The Limited Integrator Model Regulator and Its Use in Vehicle Steering Control

Bilin Aksun GÜVENÇ; Levent GÜVENÇ

Makale detayları

The Limited Integrator Model Regulator and Its Use in Vehicle Steering Control

Yazarlar:

Bilin Aksun GÜVENÇ | Levent GÜVENÇ

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Engineering and Environmental Sciences 2002 Vol.26 Issue 6, pp.473-482

Belge Tipi:

Makale

Yayın Tarihi:

5/2002

Belge Dili:

Türkçe

Document ID (Org No.):

2000745155

Sıklık:

Üç Yıllık

eISSN:

1303-6157

pISSN:

1300-0160

Özet:

 

Unexpected yaw disturbances, such as braking on unilaterally icy  roads, side wind forces and tire ruptures, are very difficult to  handle by the driver of a road vehicle, due to his/her large panic  reaction period ranging between 0.5 and 2 s.  Automatic driver assist  systems provide counteracting yaw moments during this driver panic  reaction period to maintain the stability of the yaw dynamics of the  vehicle.  An active steering based driver assist system that uses the  model regulator control architecture is introduced and used here for  yaw dynamics stabilization in such situations.  The model regulator,  which is a special form of a two degree of freedom control  architecture, is introduced and explained in detail in a tutorial  fashion whereby its integral action capability, among others, is also  shown.  An auxiliary steering actuation system is assumed and a  limited integrator version of the model regulator based steering  controller is developed in order not to saturate the auxiliary  steering actuator.  This low frequency limited integrator  implementation also allows the driver to take care of low frequency  steering and disturbance rejection tasks.  Linear simulation results  are used to demonstrate the effectiveness of the proposed method.

 

Unexpected yaw disturbances, such as braking on unilaterally icy  roads, side wind forces and tire ruptures, are very difficult to  handle by the driver of a road vehicle, due to his/her large panic  reaction period ranging between 0.5 and 2 s.  Automatic driver assist  systems provide counteracting yaw moments during this driver panic  reaction period to maintain the stability of the yaw dynamics of the  vehicle.  An active steering based driver assist system that uses the  model regulator control architecture is introduced and used here for  yaw dynamics stabilization in such situations.  The model regulator,  which is a special form of a two degree of freedom control  architecture, is introduced and explained in detail in a tutorial  fashion whereby its integral action capability, among others, is also  shown.  An auxiliary steering actuation system is assumed and a  limited integrator version of the model regulator based steering  controller is developed in order not to saturate the auxiliary  steering actuator.  This low frequency limited integrator  implementation also allows the driver to take care of low frequency  steering and disturbance rejection tasks.  Linear simulation results  are used to demonstrate the effectiveness of the proposed method.

Makale detayları

The Limited Integrator Model Regulator and Its Use in Vehicle Steering Control

Yazarlar: Bilin Aksun GÜVENÇ | Levent GÜVENÇ

Yayıncı: TUBITAK

Dergi: Turkish Journal of Engineering and Environmental Sciences 2002 Vol.26 Issue 6, pp.473-482

Belge Tipi: Makale

Yayın Tarihi: 5/2002

Belge Dili: Türkçe

Document ID (Org No.): 2000745155

Sıklık: Üç Yıllık

eISSN: 1303-6157

pISSN: 1300-0160

Sayı

Yazarlar:

Bilin Aksun GÜVENÇ | Levent GÜVENÇ

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Engineering and Environmental Sciences 2002 Vol.26 Issue 6, pp.473-482

Belge Tipi:

Makale

Yayın Tarihi:

5/2002

Belge Dili:

Türkçe

Document ID (Org No.):

2000745155

Sıklık:

Üç Yıllık

eISSN:

1303-6157

pISSN:

1300-0160