A Mixed Sideslip Yaw Rate Stability Controller for Over-Actuated Vehicles

2021 ◽  
Author(s):  
Alex Gimondi ◽  
Matteo Corno ◽  
Sergio M. Savaresi
Keyword(s):  
Control Strategies ◽  
Reference Signal ◽  
Stability Control ◽  
Critical Conditions ◽  
Passenger Cars ◽  
Single Input Single Output ◽  
Yaw Rate ◽  
Single Output ◽  
Precise Knowledge ◽  
Mixed Approach

Abstract Electronic stability control (ESC) has become a fundamental safety feature for passenger cars. Commonly employed ESCs are based on differential braking. Nevertheless, electric vehicles’ growth, particularly those featuring an over-actuated configuration with individual wheel motors, allows for maintaining driveability without slowing down the vehicle. Standard control strategies are based on yaw rate tracking. The reference signal is model-based and needs precise knowledge of the friction coefficient. To increase the system robustness, more sophisticated approaches that include vehicle sideslip are introduced. Still, it is unclear how the two signals have to be weighted, and rarely proposed controllers have been experimentally validated. In this paper, we present a mixed sideslip and yaw rate stability controller. The mixed approach allows to address the control design as a single-input single-output problem simplifying the tuning process. Furthermore, we explain the rationale behind the choice of the weighting parameter. Eventually, the proposed ESC is validated following EU regulation in simulation and with an experimental vehicle on dry asphalt and snow. The results obtained in all the performed tests demonstrate that the proposed control strategy is robust and effective. The mixed approach is able to halve the sideslip in critical conditions with respect to a pure yaw rate approach.

scholarly journals Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

2021 ◽  
Vol 29 (1) ◽  
pp. 124-139 ◽  
Author(s):  
Basilio Lenzo ◽  
Mattia Zanchetta ◽  
Aldo Sorniotti ◽  
Patrick Gruber ◽  
Wouter De Nijs
Keyword(s):  
Sideslip Angle ◽  
Single Input Single Output ◽  
Yaw Rate ◽  
Single Output ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Single Input ◽  
Yaw Moment

Control Optimization and Dynamic Programming-Informed Sizing for Novel Energy-Recovering Hydraulic Actuation

2016 ◽  
Author(s):  
Oscar Pena ◽  
Michael Leamy
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Control Strategies ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Hydraulic Cylinder ◽  
Control Input ◽  
Efficient Operation ◽  
Single Input Single Output ◽  
Single Output

This study explores optimal control and sizing of a recently introduced efficient architecture for hydraulic actuation. Previous work established a physical model of the architecture posed as a single-input single-output (SISO) system in which the ratio of two hydraulic pump/motor swash plate angles served as the control input for regulating actuation speed. The architecture was heuristically sized and controlled within the context of a hydraulic elevator. High-fidelity simulations of the system demonstrated an upwards of 75% decrease in energy consumption compared to a throttling architecture. Monte Carlo simulations are now used to achieve optimal sizing of the system. Several uniformly random points in the design space are chosen and evaluated using Dynamic Programming, which provides both a deterministic and optimal value for energy efficiency of the system. Aggregation of evaluated points reveals a region within the three-dimensional space wherein the architecture is optimally sized for efficiency. Dynamic Programming is then used to inform efficient rule-based control strategies. Control techniques learned from Dynamic Programming suggest efficient operation of the system results through the maximization of pump/motor 1 displacement and the use of the auxiliary electric motor during retraction of the hydraulic cylinder. Dynamic Programming informed system achieved a 61% level of optimality. Additionaly, it exhibited a 21% improvement over a heuristically sized and controlled version. It is anticipated that optimal control and sizing guidelines presented are applicable within the context of other hydraulic actuation technologies for which the studied architecture may be used.

scholarly journals Novel Strategy of Adaptive Predictive Control Based on a MIMO-ARX Model

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 21
Author(s):  
Alejandro Piñón ◽  
Antonio Favela-Contreras ◽  
Francisco Beltran-Carbajal ◽  
Camilo Lozoya ◽  
Graciano Dieck-Assad
Keyword(s):  
Control Strategies ◽  
Multiple Input Multiple Output ◽  
Industrial Applications ◽  
Water Levels ◽  
Variable Model ◽  
Single Input Single Output ◽  
Performance Improvements ◽  
Single Output ◽  
Predictive Controller ◽  
Novel Strategy

Many industrial processes include MIMO (multiple-input, multiple-output) systems that are difficult to control by standard commercial controllers. This paper describes a MIMO case of a class of SISO-APC (single-input, single-output adaptive predictive controller) based upon an ARX (autoregressive with exogenous variable) model. This class of SISO-APC based on ARX models has been successfully and extensively used in many industrial applications. This approach aims to minimize the barriers between the theory of predictive adaptive control and its application in the industrial environment. The proposed MIMO-APC (MIMO adaptive predictive controller) performance is validated with two simulated processes: a quadrotor drone and the quadruple tank process. In the first experiment the proposed MIMO APC shows ISE-IAE-ITAE performance indices improvements of up to 25%, 25.4% and 38.9%, respectively. For the quadruple tank process the water levels in the lower tanks follow closely the set points, with the exception of a 13% overshoot in tank 1 for the minimum phase behavior response. The controller responses show significant performance improvements when compared with previously published MIMO control strategies.

Comparison of single-input single-output and multi-input multi-output control strategies for performing sequential single-axis random vibration control test

2020 ◽  
Vol 26 (21-22) ◽  
pp. 1988-2000
Author(s):  
Giacomo D’Elia ◽  
Emiliano Mucchi
Keyword(s):  
Vibration Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Test Validity ◽  
Output Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input ◽  
Cross Axis ◽  
High Level

This study investigates the use of single-input single-output and multi-input multi-output control strategies for performing single-axis vibration control tests. In particular, the work addresses the problem of high-level cross-axis responses during those tests. To compare the two control strategies, the study presents a test campaign carried out on an automotive component by exploiting two different test facilities: a single-axis shaker and a three-degree-of-freedom shaker table. The analysis points out the limitations of the single-input single-output control strategy. The coupling between the excitation system and the test specimen causes cross-axis excitations that compromise the test validity. In some cases, the cross-axis vibration level even exceeds the acceptable threshold of 14 dB. The multi-input multi-output control strategy instead, besides the feedback control of the main axis, allows the simultaneous vibration control along the two cross axes, thus, improving the quality of the single-axis test. Moreover, the work provides a detailed study followed by practical examples on how to better exploit the evident potential of the multi-input multi-output control strategy for definitely avoiding cross-axis vibration control problems.

scholarly journals Design of Optimized PID Controller Based on ABC Algorithm for Buck Converters with Uncertainties

2020 ◽  
Author(s):  
Ibrahim K. Mohammed
Keyword(s):  
Pid Controller ◽  
Hybrid Control ◽  
Control Strategies ◽  
Linear Quadratic Regulator ◽  
Industrial Applications ◽  
Linear Quadratic ◽  
Single Input Single Output ◽  
Single Output ◽  
Hybrid Controller ◽  
And Performance

Proportional Integral Derivative (PID) is the most popular controller that is commonly used in wide industrial applications due to its simplicity to realize and performance characteristics. This technique can be successfully applied to control the behavior of single-input single-output (SISO) systems. Extending the using of PID controller for complex dynamical systems has attracted the attention of control engineers. In the last decade, hybrid control strategies are developed by researchers using conventional PID controllers with other controller techniques such as Linear Quadratic Regulator (LQR) controllers. The strategy of the hybrid controller is based on the idea that the parameters of the PID controller are calculated using gain elements of LQR optimal controller. This chapter focuses on design and simulation a hybrid LQR-PID controller used to stabilize elevation, pitch and travel axes of helicopter system. An improvement in the performance of the hybrid LQR-PID controller is achieved by using Genetic Algorithm (GA) which, is adopted to obtain best values of gain parameters for LQR-PID controller.

Comparative analysis of SISO and wavelength diversity-based FSO systems at different transmitter power levels

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Varun Srivastava ◽  
Abhilash Mandloi ◽  
Dhiraj Kumar Patel
Keyword(s):  
Optical Signal ◽  
Free Space Optical ◽  
Optical Source ◽  
Transmit Power ◽  
Single Input Single Output ◽  
Transmitter Power ◽  
Single Output ◽  
Communication Links ◽  
Single Input ◽  
Matching Performance

AbstractFree space optical (FSO) communication refers to a line of sight technology, which comprises optical source and detector to create a link without the use of physical connections. Similar to other wireless communication links, these are severely affected by losses that emerged due to atmospheric turbulence and lead to deteriorated intensity of the optical signal at the receiver. This impairment can be compensated easily by enhancing the transmitter power. However, increasing the transmitter power has some limitations as per radiation regulations. The requirement of high transmit power can be reduced by employing diversity methods. This paper presents, a wavelength-based diversity method with equal gain combining receiver, an effective technique to provide matching performance to single input single output at a comparatively low transmit power.

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