Sliding Modes Control in Vehicle Longitudinal Dynamics Control

2017 ◽  
pp. 357-383 ◽  
Author(s):  
Antonella Ferrara ◽  
Gian Paolo Incremona
Keyword(s):  
Sliding Modes ◽  
Longitudinal Dynamics

Modeling longitudinal dynamics in textual data

2003 ◽  
Author(s):  
Kevin Dooley ◽  
Steven Corman
Keyword(s):  
Longitudinal Dynamics ◽  
Textual Data

scholarly journals Sensorless Pedalling Torque Estimation Based on Motor Load Torque Observation for Electrically Assisted Bicycles

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 88
Author(s):  
Riccardo Mandriota ◽  
Stefano Fabbri ◽  
Matthias Nienhaus ◽  
Emanuele Grasso
Keyword(s):  
External Disturbance ◽  
State Observer ◽  
Position Estimation ◽  
Load Torque ◽  
Estimation Errors ◽  
Position Information ◽  
Longitudinal Dynamics ◽  
Rotor Position ◽  
Electrically Assisted ◽  
Motor Load

The need for reducing the cost of and space in Electrically Assisted Bicycles (EABs) has led the research to the development of solutions able to sense the applied pedalling torque and to provide a suitable electrical assistance avoiding the installation of torque sensors. Among these approaches, this paper proposes a novel method for the estimation of the pedalling torque starting from an estimation of the motor load torque given by a Load Torque Observer (LTO) and evaluating the environmental disturbances that act on the vehicle longitudinal dynamics. Moreover, this work shows the robustness of this approach to rotor position estimation errors introduced when sensorless techniques are used to control the motor. Therefore, this method allows removing also position sensors leading to an additional cost and space reduction. After a mathematical description of the vehicle longitudinal dynamics, this work proposes a state observer capable of estimating the applied pedalling torque. The theory is validated by means of experimental results performed on a bicycle under different conditions and exploiting the Direct Flux Control (DFC) sensorless technique to obtain the rotor position information. Afterwards, the identification of the system parameters together with the tuning of the control system and of the LTO required for the validation of the proposed theory are thoroughly described. Finally, the capabilities of the state observer of estimating an applied pedalling torque and of recognizing the application of external disturbance torques to the motor is verified.

scholarly journals Three-phase phase-locked loop algorithms based on sliding modes

2021 ◽  
pp. 1-1
Author(s):  
Arnau Doria-Cerezo ◽  
Victor Repecho ◽  
Domingo Biel
Keyword(s):  
Phase Locked Loop ◽  
Sliding Modes ◽  
Three Phase ◽  
Phase Phase

scholarly journals NonlinearL2-Gain Analysis of Hybrid Systems in the Presence of Sliding Modes and Impacts

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
T. Osuna ◽  
O. E. Montano ◽  
Y. Orlov
Keyword(s):  
Sliding Mode ◽  
Numerical Study ◽  
Sufficient Conditions ◽  
Disturbance Attenuation ◽  
Sliding Modes ◽  
Time Dynamics ◽  
Attenuation Level ◽  
Disturbance Factor ◽  
Disturbance Attenuation Level ◽  
The Impact

TheL2-gain analysis is extended towards hybrid mechanical systems, operating under unilateral constraints and admitting both sliding modes and collision phenomena. Sufficient conditions for such a system to be internally asymptotically stable and to possessL2-gain less than ana priorigiven disturbance attenuation level are derived in terms of two independent inequalities which are imposed on continuous-time dynamics and on discrete disturbance factor that occurs at the collision time instants. The former inequality may be viewed as the Hamilton-Jacobi inequality for discontinuous vector fields, and it is separately specified beyond and along sliding modes, which occur in the system between collisions. Thus interpreted, the former inequality should impose the desired integral input-to-state stability (iISS) property on the Filippov dynamics between collisions whereas the latter inequality is invoked to ensure that the impact dynamics (when the state trajectory hits the unilateral constraint) are input-to-state stable (ISS). These inequalities, being coupled together, form the constructive procedure, effectiveness of which is supported by the numerical study made for an impacting double integrator, driven by a sliding mode controller. Desired disturbance attenuation level is shown to satisfactorily be achieved under external disturbances during the collision-free phase and in the presence of uncertainties in the transition phase.

scholarly journals Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Guo Lie ◽  
Ren Zejian ◽  
Ge Pingshu ◽  
Chang Jing
Keyword(s):  
Collision Avoidance ◽  
Controller Design ◽  
Sliding Mode ◽  
Vulnerable Groups ◽  
Control Effect ◽  
Longitudinal Dynamics ◽  
Emergency Braking ◽  
Collision Avoidance System ◽  
Braking Control ◽  
Single Neuron Pid

Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

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