Design and Experimental Implementation of Longitudinal Control for a Platoon of Automated Vehicles

1998 ◽  
Vol 122 (3) ◽  
pp. 470-476 ◽  
Author(s):  
R. Rajamani ◽  
S. B. Choi ◽  
B. K. Law ◽  
J. K. Hedrick ◽  
R. Prohaska ◽  
...  
Keyword(s):  
Control System ◽  
Torque Converter ◽  
Stable Operation ◽  
Automated Vehicles ◽  
Longitudinal Control ◽  
The Public ◽  
Automated Highways ◽  
Experimental Implementation ◽  
Special Challenge ◽  
Upper Level

This paper presents the design and experimental implementation of a longitudinal control system for the operation of automated vehicles in platoons. The control system on each vehicle is designed to have a hierarchical structure and consists of an upper level controller and a lower level controller. The upper controller determines the desired acceleration for each vehicle in the platoon so as to maintain safe string-stable operation even at very small intervehicle spacing. The lower controller utilizes vehicle-specific parameters and determines the throttle and/or brake commands required to track the desired acceleration. A special challenge handled in the design of the lower level controller is low-speed operation that involves gear changes and torque converter dynamics. The paper also presents the design of longitudinal intra-platoon maneuvers that are required in order to allow any car in the platoon to make an exit. The paper presents extensive experimental results from the public NAHSC demonstration of automated highways conducted in August 1997 at San Diego, California. The demonstration included an eight-car platoon operating continuously over several weeks with passenger rides given to over a thousand visitors. The maneuvers demonstrated included starting the automated vehicles from complete rest, accelerating to cruising speed, allowing any vehicle to exit from the platoon, allowing new vehicles to join the platoon and bringing the platoon to a complete stop at the end of the highway. [S0022-0434(00)01903-1]

Coal-Conveying Control System for the Pressure of Coal Waste Heat Power Generation Based on PLC

2013 ◽  
Vol 336-338 ◽  
pp. 681-685
Author(s):  
Li Jun Zhao ◽  
Ying Feng Chen
Keyword(s):  
Control System ◽  
Waste Heat ◽  
Computer Control ◽  
System Structure ◽  
Utilization Rate ◽  
Coal Waste ◽  
Stable Operation ◽  
Efficient Operation ◽  
Actual Operation ◽  
One Year

This paper constructs a coal-conveying control system based on programmable logic controller (PLC), which is applied to the residual heat and pressure integrated energy-saving technological transformation projects, and realizes the performance of security, reliable and efficient operation. This control system consists of the PLC control system, computer control system and industrial television monitoring system. After more than one year of actual operation shows that the system structure is reasonable, reliable operation, at the same time, reduce labor intensity, improve the utilization rate of equipment, the stable operation also provides a practical reference for other similar projects.

Implementation and vehicle tests of a vehicle stop-and-go cruise control system

2002 ◽  
Vol 216 (7) ◽  
pp. 537-544 ◽  
Author(s):  
K Yi ◽  
N Ryu ◽  
H J Yoon ◽  
K Huh ◽  
D Cho ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Speed Control ◽  
Step Motor ◽  
Cruise Control ◽  
Longitudinal Control ◽  
Linear Quadratic Optimal Control ◽  
Millimetre Wave ◽  
Stop And Go ◽  
Wave Radar

Implementation and vehicle tests of a vehicle longitudinal control algorithm for stop-and-go cruise control have been performed. The vehicle longitudinal control scheme consists of a set-speed control algorithm, a speed control algorithm, and a distance control algorithm. A desired acceleration for the vehicle for the control of vehicle-to-vehicle relative speed and clearance has been designed using linear quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. Vehicle tests have been conducted using two test vehicles. A 2000 cm3 passenger car equipped with a radar distance sensor, throttle/brake actuators and a controller has been used as a subject vehicle in the vehicle tests. A millimetre wave radar sensor has been used for distance measurement. A step motor and an electronic vacuum booster have been used for throttle/brake actuators. It has been shown that the implemented vehicle longitudinal control system can provide satisfactory performance in vehicle set-speed control and vehicle clearance control at lower speeds.

Performance of the Virgo interferometer longitudinal control system during the second science run

2011 ◽  
Vol 34 (7) ◽  
pp. 521-527 ◽  
Author(s):  
T. Accadia ◽  
F. Acernese ◽  
F. Antonucci ◽  
P. Astone ◽  
G. Ballardin ◽  
...  
Keyword(s):  
Control System ◽  
Longitudinal Control

scholarly journals Damping Optimum-Based Design of Control Strategy Suitable for Battery/Ultracapacitor Electric Vehicles

Energies ◽  
2018 ◽  
Vol 11 (10) ◽  
pp. 2854 ◽  
Author(s):  
Danijel Pavković ◽  
Mihael Cipek ◽  
Zdenko Kljaić ◽  
Tomislav Mlinarić ◽  
Mario Hrgetić ◽  
...  
Keyword(s):  
Control System ◽  
Energy Storage ◽  
Electric Vehicle ◽  
Storage System ◽  
Energy Storage System ◽  
Hybrid Energy ◽  
Hybrid Energy Storage ◽  
Hybrid Energy Storage System ◽  
Dc Bus ◽  
Upper Level

This contribution outlines the design of electric vehicle direct-current (DC) bus control system supplied by a battery/ultracapacitor hybrid energy storage system, and its coordination with the fully electrified vehicle driveline control system. The control strategy features an upper-level DC bus voltage feedback controller and a direct load compensator for stiff tracking of variable (speed-dependent) voltage target. The inner control level, comprising dedicated battery and ultracapacitor current controllers, is commanded by an intermediate-level control scheme which dynamically distributes the upper-level current command between the ultracapacitor and the battery energy storage systems. The feedback control system is designed and analytical expressions for feedback controller parameters are obtained by using the damping optimum criterion. The proposed methodology is verified by means of simulations and experimentally for different realistic operating regimes, including electric vehicle DC bus load step change, hybrid energy storage system charging/discharging, and electric vehicle driveline subject to New European Driving Cycle (NEDC), Urban Driving Dynamometer Schedule (UDDS), New York Certification Cycle (NYCC) and California Unified Cycle (LA92), as well as for abrupt acceleration/deceleration regimes.

Chaos control of permanent magnet synchronous motor using simple controllers

2018 ◽  
Vol 41 (8) ◽  
pp. 2352-2364 ◽  
Author(s):  
Arif Iqbal ◽  
Girish Kumar Singh
Keyword(s):  
Permanent Magnet ◽  
Chaos Control ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Industrial Applications ◽  
Stable Operation ◽  
Comparative Performance ◽  
Experimental Implementation ◽  
Chaotic Characteristic ◽  
The Stability

Owing to the superior properties and stable operation, the Permanent Magnet Synchronous Motor (PMSM) is preferably used in wide industrial applications. But, the stability of motor is found to be dependent on its initial operating condition, showing the chaotic characteristic. Therefore, this paper addresses the chaos control of PMSM by developing four simple but effective controllers, which are mathematically designed by using the principle of Lyapunov’s method for asymptotic global stability. A comparative performance assessment has been carried out for the developed controllers in terms of settling time and peak over shoot. Furthermore, the concept of conventional proportional-integration type controller has been extended to develop two more controllers for chaos control of PMSM. Numerical simulation has been carried out in Matlab environment for performance evaluation of developed controllers. The obtained analytical results have been validated through experimental implementation in real time environment on Multisim/Ultiboard platform.

Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller

2002 ◽  
Vol 124 (4) ◽  
pp. 668-674 ◽  
Author(s):  
Nader Sadegh ◽  
Ai-Ping Hu ◽  
Courtney James
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Tracking Error ◽  
Sampling Rate ◽  
Weighted Averaging ◽  
System Control ◽  
Control Input ◽  
Experimental Implementation ◽  
Repetitive Learning ◽  
Averaging Filter

This paper describes a multirate repetitive learning controller with an adjustable sampling rate that may be used as an “add-on” module to enhance the tracking performance of a feedback control system. The sampling rate of the multirate controller is slower than the remainder of the control system, and is selected by the user to achieve the required system performance based on a trade-off between the accuracy and the complexity of the controller. The multirate controller learns the system control input based on the tracking error down-sampled using a weighted averaging filter. The output of the multirate controller is up-sampled through an arbitrary hold mechanism determined by the user. This paper extends the existing stability results for single-rate repetitive learning controllers to the proposed multirate scheme. It provides an explicit procedure for its design and stability analysis. In addition, the proposed multirate repetitive learning controller is implemented on a mechanical system performing a non-colocated control task, where its effectiveness in reducing tracking errors while following periodic reference trajectories is shown experimentally.

Multiple Fault Diagnosis as Applied to Automated Vehicle Control

1999 ◽  
Author(s):  
Adam S. Howell ◽  
J. Karl Hedrick
Keyword(s):  
Control System ◽  
Diagnostic System ◽  
Vehicle Control ◽  
Longitudinal Control ◽  
Multiple Faults ◽  
Automated Vehicle ◽  
Multiple Fault Diagnosis ◽  
System Components ◽  
Automated Vehicle Control ◽  
Residual Processing

Abstract This paper addresses the problem of detecting multiple faults for the longitudinal control system of an automated vehicle. An existing fault diagnostic system which can isolate all single faults is extended to the diagnosis of multiple faults via improved residual processing in the form of fuzzy logic. The new diagnostic system is shown to correctly detect and isolate all single and multiple faults in a subset of the automated vehicle control system components.

scholarly journals A temporal analysis of safety drivers taking back control in public roadway automated driving trials

2019 ◽  
Vol 63 (1) ◽  
pp. 1532-1536
Author(s):  
Nicole M. Corcoran ◽  
Daniel V. McGehee ◽  
T. Zachary Noonan
Keyword(s):  
Autonomous Vehicle ◽  
Temporal Analysis ◽  
Automated Vehicles ◽  
Automated Driving ◽  
The Public ◽  
Environment Research ◽  
Operational Design ◽  
Take Back ◽  
Driving Task ◽  
Over Time

In 2019, industry is in the testing stages of level 4 SAE/NHTSA automated vehicles. While in testing, L4 vehicles require a safety driver to monitor the driving task at all times. These specially trained drivers must take back control if the vehicle doesn’t seem to be responding correctly to the ever-changing roadway and environment. Research suggests that monitoring the driving task can lead to a decrease in vigilance over time. Recently, Waymo publicly released takeover request and mileage data on its 2018 L4 autonomous vehicle takeover requests. From this data, which was represented in mileage, we created temporal metric which showed that there were typically 150-250 hours without a takeover request. From this we suggest that there may be a decrement in vigilance for Waymo safety drivers. While there are still many unknowns, we suggest Waymo release takeover requests in terms of time rather than mileage and provide more information on the operational design domains of these vehicles. Expanding the content of this publicly-released data could then give researchers and the public more understanding of the conditions under which safety drivers are functioning.

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