scholarly journals Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

2019 ◽  
Vol 8 (1) ◽  
pp. 568-581
Author(s):  
Sina Milani ◽  
Y. Samim Ünlüsoy ◽  
Hormoz Marzbani ◽  
Reza N. Jazar
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Tracking Error ◽  
Linear Quadratic Regulator ◽  
State Feedback Control ◽  
Steering Control ◽  
Linear Quadratic ◽  
Amplification Ratio ◽  
Vehicle Dynamic Simulation ◽  
Optimal State Feedback

Abstract Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control of the semitrailer on manoeuvrability and stability of tractor-semitrailer combinations is investigated. A linear bicycle model and a nonlinear version are used for controller design and vehicle dynamic simulation in MATLAB environment. The Linear Quadratic Regulator optimal state feedback control is used to minimise the tracking error at low-speed, and regulate Rearward Amplification ratio and roll at high-speed. Quantum Particle Swarm Optimisation is used for optimising the weighting factors. Three different control algorithms are introduced and it is demonstrated through simulations that the vehicle with the proposed steering control exhibits desirable improvements compared to the baseline vehicle.

Active Command-Steering Control of Tractor and Three Full Trailers for Tractor-Track Following

2006 ◽  
Author(s):  
Krishna Rangavajhula ◽  
H.-S. Jacob Tsao
Keyword(s):  
High Speed ◽  
Control Strategies ◽  
Linear Quadratic Regulator ◽  
Cost Effective ◽  
Steering Control ◽  
Linear Quadratic ◽  
Amplification Ratio ◽  
High Speeds ◽  
Lqr Controller ◽  
Optimal Linear

A key source of safety and infrastructure issues for operations of longer combination vehicles (LCVs) is off-tracking, which has been used to refer to the general phenomenon that the rear wheels of a truck do not follow the track of the front wheels and wander off the travel lane. In this paper, we examine the effectiveness of command-steering in reducing off-tracking during a 90-degree turn at low and high speeds in an articulated system with a tractor and three full trailers. In command steering, rear front axles of the trailers are steered proportionately to the articulation angle between the tractor and trailing units. We then consider several control strategies to minimize off-tracking and rearward amplification of this system. A minimum rearward amplification ratio (RWA), as a surrogate for minimum off tracking, has been used as the control criterion for medium to high speeds to arrive at an optimal Linear Quadratic Regulator (LQR) controller. As for low speeds, the maximum radial offset between the tractor and trailer 3 is minimized in the design of the controller. Robustness of the optimal controller with respect to tyre-parameter perturbations is then examined. Based on the simulation results, we find that, active command steering is very effective in reducing off tracking at low- as well as high-speed 90-degree turns. To achieve acceptable levels of RWA and off tracking, at least two of the three trailers must be actively command-steered. Among the three two-trailer-steering possibilities, actively steering trailers 1 and 2 is most cost-effective and results in the lowest RWA for medium- to high- speeds (at which RWA is important), and off-tracking is practically eliminated for all speed regimes considered.

scholarly journals LPV-Based Controller Design of a Floating Piston Pneumatic Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 98
Author(s):  
Ádám Szabó ◽  
Tamás Bécsi ◽  
Szilárd Aradi ◽  
Péter Gáspár
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Pneumatic Actuator ◽  
Pd Controller ◽  
Linear Parameter ◽  
Linear Quadratic ◽  
Minimum Order ◽  
Linear Parameter Varying ◽  
Parameter Varying

The paper presents the modeling and control design of a floating piston pneumatic gearbox actuator using a grid-based Linear Parameter Varying approach. First, the nonlinear model of the pneumatic actuator is presented, then it is transformed into a 6th order Linear Parameter Varying representation with endogenous scheduling parameters. The model is simplified based on empirical considerations to solve the controller synthesis and allow fast controller tuning. The developed Linear Parameter Varying controller is tested in simulations. Moreover, using a balanced truncation-model order reduction method, the minimum order of the controller is determined, which can provide acceptable performance. The simplified controller is implemented in an embedded environment and validated against the real target. Then, the validation results are compared with a gain-scheduled PD controller and a Linear Quadratic Regulator. The results show that by taking the time-varying nature of the scheduling parameters into account, the Linear Parameter Varying controller surpasses the Linear Quadratic Regulator, which cannot handle the high-speed transients around Neutral. Furthermore, the PD controller performs slightly better in two of the four test cases, although the Linear Parameter Varying controller has a higher level of fault tolerance.

scholarly journals Simulation of a Steam Injected Gas Turbine Plant Control System

1997 ◽  
Author(s):  
Shusheng Zang ◽  
Jaqiang Pan
Keyword(s):  
Gas Turbine ◽  
Flow Rate ◽  
Controller Design ◽  
Dynamic Performance ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Turbine Plant ◽  
Fuel Flow ◽  
Lqr Controller ◽  
Gas Turbine Plant

The design of a modern Linear Quadratic Regulator (LQR) is described for a test steam injected gas turbine (STIG) unit. The LQR controller is obtained by using the fuel flow rate and the injected steam flow rate as the output parameters. To meet the goal of the shaft speed control, a classical Proportional Differential (PD) controller is compared to the LQR controller design. The control performance of the dynamic response of the STIG plant in the case of rejection of load is evaluated. The results of the computer simulation show a remarkable improvement on the dynamic performance of the STIG unit.

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

2021 ◽  
pp. 002029402110354
Author(s):  
Yifeng Zhang ◽  
Zhiwen Wang ◽  
Yuhang Wang ◽  
Canlong Zhang ◽  
Biao Zhao
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
High Speed ◽  
Control Method ◽  
Response Speed ◽  
State Feedback Control ◽  
Steering Control ◽  
Yaw Rate ◽  
Simulink Simulation ◽  
Optimal Control Method

In order to improve the handling stability of four-wheel steering (4WS) cars, a two-degree-of-freedom 4WS vehicle dynamics model is constructed here, and the motion differential equation of the system model is established. Based on the quadratic optimal control theory, the optimal control of 4WS system is proposed in this paper. When running at low speed and high speed, through yaw rate feedback control, state feedback control, and optimal control, the 4WS cars are controlled based on yaw rate and centroid cornering angle with MATLAB/Simulink simulation. The result indicates that 4WS control based on the optimal control can improve the displacement of the cars. And, the optimal control of 4WS proposed in this paper can eliminate centroid cornering angle completely compared with other two traditional optimal control methods. Besides, the optimal control enjoys faster response speed and no overshoot happens. In conclusion, the optimal control method proposed in the paper represents better stability, moving track and stability, thereby further enhancing the handling property of cars.

scholarly journals Cross Regulation Reduced Optimal Multivariable Controller Design for Single Inductor DC-DC Converters

Energies ◽  
2019 ◽  
Vol 12 (3) ◽  
pp. 477 ◽  
Author(s):  
S. Augusti Lindiya ◽  
N. Subashini ◽  
K. Vijayarekha
Keyword(s):  
Pid Controller ◽  
Controller Design ◽  
Multiple Input Multiple Output ◽  
Linear Quadratic Regulator ◽  
Prototype Model ◽  
Linear Quadratic ◽  
Load Current ◽  
Practical Applications ◽  
Input Multiple Output ◽  
Single Input

Single Inductor (SI) converters with the advantage of using one inductor for any number of inputs/outputs find wide applications in portable electronic gadgets and electrical vehicles. SI converters can be used in Single Input Multiple Output (SIMO) and Multiple Input Multiple Output (MIMO) configurations but they need controllers to achieve good transient and steady state responses, to improve the stability against load and line disturbances and to reduce cross regulation. Cross regulation is the change in an output voltage due to change in the load current at another output and it is an added constraint in SI converters. In this paper, Single Input Dual Output (SIDO) and Dual Input Dual Output (DIDO) converters with applications capable of handling high load current working in Continuous Conduction Mode (CCM) of operation are taken under study. Conventional multivariable PID and optimal Linear Quadratic Regulator (LQR) controllers are developed and their performances are compared for the above configurations to meet the desired objectives. Generalized mathematical models for SIMO and MIMO are developed and a Genetic Algorithm (GA) is used to find the parameters of a multivariable PID controller and the weighting matrices of optimal LQR where the objective function includes cross regulation as a constraint. The simulated responses reveal that LQR controller performs well for both the systems over multivariable PID controller and they are validated by hardware prototype model with the help of DT9834® Data Acquisition Module (DAQ). The methodologies used here generate a fresh dimension for the case of such converters in practical applications.

Backstepping Controller Design for a 5 DOF Spherical Inverted Pendulum

2019 ◽  
Vol 41 ◽  
pp. 37-50 ◽  
Author(s):  
Soukaina Krafes ◽  
Zakaria Chalh ◽  
Abdelmjid Saka
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Performance Comparison ◽  
Virtual Reality Environment ◽  
Linear Quadratic ◽  
Control Scheme ◽  
Linearized System ◽  
Backstepping Controller

This paper presents a Backstepping controller for five degrees of freedom Spherical Inverted Pendulum. Since the system is nonlinear, unstable, underactuated and MIMO and has a nonsquare form, the classic control design cannot be applied to control it. In order to remedy this problem, we propose in this paper a new method based on hierarchical steps of the Backstepping controller taking into a count the nonlinearities that cannot be neglected. Furthermore, a Linear Quadratic Regulator controller and LQR + PID based on the linearized system model are also designed for performance comparison. Finally, a simulation study is carried out to prove the effectiveness of proposed control scheme and is validated using the virtual reality environment that proves the performance of the Backstepping controller over the linear ones where it brings the pendulum from any initial condition in the upper hemisphere while the base is brought to the origin of the coordinates.

Energy Losses Related to Automatic Steering of Ships in Waves—Part II: Performance of Controllers Designed to a New Criterion

1983 ◽  
Vol 105 (3) ◽  
pp. 325-332 ◽  
Author(s):  
R. E. Reid ◽  
B. C. Mears ◽  
D. E. Griffin
Keyword(s):  
High Speed ◽  
Load Condition ◽  
Performance Criterion ◽  
Sensitivity Analyses ◽  
Energy Losses ◽  
Steering Control ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Automatic Steering ◽  
New Criterion

Minimization of energy losses associated with the steering control of modern ship types is discussed on the basis of frequency-domain sensitivity analyses and time-domain simulation studies. A high-speed containership and large tankers in the full-load condition are analyzed. A new performance criterion for minimization of steering-related propulsion losses is presented, and controllers designed to it using linear quadratic Gaussian (LQG) techniques. In the case of the containership, the resulting controller is shown to have the potential to reduce the net losses related to steering below those of the uncontrolled ship through proper use of the rudder in some conditions. While this does not seem possible for the tankers, the results indicate that a controller designed to the new criterion results in lower losses than a controller based on a form of criterion to which new autopilots for tankers are presently being designed. The implications for both autopilot and steering gear servo-design based on these results are discussed.

Augmented-Stability Controller Design for a UAV’s Longitudinal Motion

2011 ◽  
Vol 63-64 ◽  
pp. 533-536
Author(s):  
Xiao Jun Xing ◽  
Jian Guo Yan
Keyword(s):  
Dynamic Characteristics ◽  
Controller Design ◽  
Damping Ratio ◽  
Linear Quadratic Regulator ◽  
Longitudinal Motion ◽  
Linear Quadratic ◽  
Short Period ◽  
Quality Specifications ◽  
Simulation Results ◽  
And Control

With the purpose of overcoming the defect that unmanned air vehicles (UAVs) are easily disturbed by air current and tend to be unstable, an augmented-stability controller was developed for a certain UAV’s longitudinal motion. According to requirements of short-period damping ratio and control anticipation parameter (CAP) in flight quality specifications of GJB185-86 and C*, linear quadratic regulator (LQR) theory was used in the augmented-stability controller’s design. The simulation results show that the augmented-stability controller not only improves the UAV’s stability and dynamic characteristics but also enhances the UAV’s robustness.

Novel Method on Using Evolutionary Algorithms for PD Optimal Tuning

2011 ◽  
Vol 110-116 ◽  
pp. 4977-4984 ◽  
Author(s):  
R.A. Khoshrooz ◽  
M.A.D. Vahid ◽  
M. Mirshams ◽  
M.R. Homaeinezhad ◽  
A.H. Ahadi
Keyword(s):  
Attitude Control ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Initial Guess ◽  
Pd Controller ◽  
Linear Quadratic ◽  
Optimal Tuning ◽  
Heavy Burden ◽  
Novel Method

This paper presents a method to solve the Evolutionary Algorithm (EA) problems for optimal tuning of the Proportional-Deferential (PD) controller parameters. The major efficiency of the proposed method is the Genetic Algorithm (GA) stuck avoidance as well an appropriate estimation for GA lower and upper bounds. Also by this method for the Particle Swarm Optimization (PSO) methodology the initial choice of the controller parameters can be fulfilled to achieve the acceptable performance accuracies. For both GA and PSO methods, the Linear Quadratic Regulator (LQR) obtained trend is used as the reference for the determination of the aforementioned bounds and initial guess. The presented algorithm was applied to regulate a PD controller for the attitude control of a virtual satellite and also with Hardware-in-the-loop (HIL) reaction wheels. Heavy burden trying and error was eliminated from the PD controller design which can be mentioned as the important merit of the presented study.

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