scholarly journals Using an LQR active anti-roll bar system to improve road safety of tractor semi-trailers

2020 ◽  
Vol 23 (3) ◽  
pp. 593-601
Author(s):  
Vu Van Tan ◽  
Nguyen Duy Hung
Keyword(s):  
Road Safety ◽  
Load Transfer ◽  
Theoretical Study ◽  
Linear Quadratic Regulator ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Total Load ◽  
Frequency Domains ◽  
Simulation Results ◽  
Important Basis

Introduction: Tractor semi-trailer vehicles are playing an increasingly important role in the global freight chain. However, due to the heavy total load and height of the center of gravity, this type of vehicle is often at a higher risk of instability than other vehicles. This paper focuses on improving the vehicle roll stability by using an active anti-roll bar system. Methods: The Linear Quadratic Regulator (LQR) approach is used for this purpose with the control signal being the torque generated by the active anti-roll bar system. In order to synthesize the controller, the roll angle of the vehicle body and the normalized load transfer at all axles of the tractor semi-trailer vehicle are considered as the optimal goals. Results: The simulation results in time and frequency domains clearly show the effectiveness of the proposed method for the active anti-roll bar system, because the reduction of the desired criterias is about 40% less when compared to a vehicle using the passive anti-roll bar system. Conclusions: The effectiveness of the active anti-roll bar system on improving the vehicle roll stability, has been verified in this theoretical study with the LQR optimal controller. This is an important basis for conducting more in-depth studies and future experiments.

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.

Mechatronic suspension design for full rail vehicle system

2016 ◽  
Vol 231 (4) ◽  
pp. 571-590 ◽  
Author(s):  
Mortadha Graa ◽  
Mohamed Nejlaoui ◽  
Ajmi Houidi ◽  
Zouhaier Affi ◽  
Lotfi Romdhane
Keyword(s):  
Tracking Error ◽  
Linear Quadratic Regulator ◽  
Experimental Result ◽  
Railway Vehicle ◽  
Linear Quadratic ◽  
Rail Vehicle ◽  
Vehicle System ◽  
Frequency Domains ◽  
Rail Irregularities ◽  
Vehicle Motion

In this paper, an analytical mechatronic dynamic design model of a full rail vehicle system is developed. Based on the rail vehicle motion, its degree of freedom can be reduced to only 38. This reduction is necessary for the model simplicity. The developed model is validated with experimental result and compared with other one from literature. The real characteristics of the actuators are discussed, and its controller is designed. A mechatronic model that expresses the controlled tracking error as function of the vehicle dynamics and the actuator characteristics is developed. This model is used by the linear quadratic regulator approach to identify the mechatronic rail vehicle proportional–integral–derivative controller’s gains. The mechatronic rail vehicle comfort is evaluated in terms of the passenger displacement, acceleration and frequency as a response of a rail irregularities caused by a lateral and two vertical track irregularities. The simulations of vibration analysis are obtained in time and frequency domains and compared with railway vehicle status. The robustness of the designed mechatronic rail vehicle is verified by simulations, carried out for the cases of car body mass variations. The results show the effectiveness of the proposed mechatronic rail vehicle design which improves significantly the transportation of passengers.

LQG Control Design for Vehicle Active Anti-Roll Bar System

2014 ◽  
Vol 663 ◽  
pp. 146-151 ◽  
Author(s):  
Noraishikin Zulkarnain ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan
Keyword(s):  
Ride Comfort ◽  
Simulation Analysis ◽  
Control Strategies ◽  
Dynamic Modelling ◽  
Linear Quadratic Regulator ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Roll Rate ◽  
External Forces

The objective of this paper is to design a linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers for an active anti-roll bar system. The use of an active anti-roll bar will be analysed from two different perspectives in vehicle ride comfort and handling performances. This paper proposed the basic vehicle dynamic modelling with four degree of freedom (DOF) on half car model and are described that show, why and how it is possible to control the handling and ride comfort of the car, with the external forces also control strategies on the front anti-roll bar. By simulation analysis, the design model is validity and the performance under control of linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controller are achieved. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of half vehicle body. The result shows, however, that LQG produced better response compared to a LQR strategy.

Optimal Roll Control of a Single-Unit Lorry

1996 ◽  
Vol 210 (1) ◽  
pp. 45-55 ◽  
Author(s):  
R C Lin ◽  
D Cebon ◽  
D J Cole
Keyword(s):  
Single Unit ◽  
Load Transfer ◽  
Linear Quadratic Regulator ◽  
Lateral Acceleration ◽  
Hydraulic Actuator ◽  
Linear Quadratic ◽  
Mean Power ◽  
Worst Case ◽  
Limited Bandwidth ◽  
Roll Control

Lateral acceleration control and linear quadratic regulator (LQR) theory are used to design active roll control systems for heavy goods vehicles. The suspension consists of a limited bandwidth hydraulic actuator in series with an anti-roll bar. The procedure used to determine suitable controller gains is described. The simulation results show that roll control of a single-unit lorry requires an actuator bandwidth of 6 Hz and mean power of approximately 17 kW for a ‘worst case’ random steering input. The static roll-over threshold of this vehicle is increased by 66 per cent when compared with the same vehicle with passive suspensions and the r.m.s. lateral load transfer is reduced by 34 per cent for a typical random steering input.

scholarly journals Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

2019 ◽  
Vol 16 (2) ◽  
pp. 71-81
Author(s):  
David Javier Muñoz-Aldana ◽  
Carlos Alberto Gaviria-López
Keyword(s):  
Virtual Environment ◽  
Simulation Analysis ◽  
Control Strategies ◽  
Linear Quadratic Regulator ◽  
Underwater Robotics ◽  
Linear Quadratic ◽  
Remotely Operated Vehicle ◽  
Cost Overruns ◽  
Simulation Strategy ◽  
Simulation Results

This article presents a virtual environment based on co-simulation between MatLab and MSC Adams, allowing simulation, analysis, development and validation of control strategies for tracking of position trajectories of a Remotely Operated Vehicle (ROV). The simulation results in the horizontal plane show that it is possible, in an uncomplicated way, to construct a virtual environment, which allows observing realistic movements when the forces exerted on an ROV are provided. Taking advantage of the properties of co-simulation, the experiences in this work show that this simulation strategy is very suitable for analysis purposes and control design, allowing researchers and professionals the wide use of control tools available in MATLAB for this end. In this work, a robust linear quadratic regulator (LQR) with integral action has been used to evaluate the performance of the proposed virtual environment for tracking of position trajectories. To validation purposes, widely used trajectories in naval study designs were employed such as the Zig -Zag shaped and the Circular shaped trajectories. Simulation results show that the integration of both, MatLab and MSC Adams, effectively addressees the problem of evaluation of performance of control strategies in the virtual environment. The presented approach allows gaining experience about the challenges of this kind of control problems, before dealing with the complex aspects of tuning in real experimental environments, avoiding losses and cost overruns for underwater robotics projects.

scholarly journals Development of an Autonomous Two-Wheeled Vehicle Robot

2011 ◽  
Vol 2-3 ◽  
pp. 390-395
Author(s):  
Minoru Sasaki ◽  
Hidenobu Tanaka ◽  
Satoshi Ito
Keyword(s):  
Control Systems ◽  
Integral Method ◽  
Linear Quadratic Regulator ◽  
Steering Control ◽  
Linear Quadratic ◽  
Wheeled Vehicle ◽  
Roll Rate ◽  
Simulation Results ◽  
Quadratic Integral ◽  
Steering Torque

This paper describes a development of an autonomous two-wheeled vehicle robot. The model of the two-wheeled vehicle using steering control is derived. The control systems are designed by linear quadratic regulator and linear quadratic integral method. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The experimental results and simulation results show stable running control of the two-wheeled vehicle robot and coincident with each other. The approach is validated through these results.

scholarly journals Hardware in the Loop Testing of Adaptive Inertia Weight PSO-Tuned LQR Applied to Vehicle Suspension Control

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Joshua Sunder David Reddipogu ◽  
Vinodh Kumar Elumalai
Keyword(s):  
Optimization Problem ◽  
Ride Comfort ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Body Acceleration ◽  
Inertia Weight ◽  
Optimal Weights ◽  
Road Profile

This paper presents an adaptive inertia weight particle swarm optimization (AIWPSO) employed for solving the multiobjective weight optimization problem of LQR applied for the vehicle active suspension system (ASS). To meet the competing control objectives of ASS including the ride comfort, road handling, and suspension travel, the state feedback controller design for ASS is formulated as an optimization problem and an improved PSO is employed for finding the optimal weights of the linear-quadratic regulator (LQR). Specifically, for solving the premature convergence of the particles and imbalance between exploration and exploitation capabilities of PSO, an adaptive inertia weight that updates the velocity of the particles based on the success rate is used. The efficacy of the AIWPSO-tuned LQR is experimentally tested on a quarter-car ASS plant using the hardware in loop (HIL) testing for an uneven road surface. Experimental results highlight that, compared to conventional PSO-tuned LQR, the proposed scheme can significantly minimize the vehicle body acceleration due to irregular road profile while guaranteeing the minimum tire friction for passenger safety. The ISO 2361-1 standards adopted to evaluate the ride and health criteria substantiate that the proposed scheme reduces the vibration dose value by 25.34% for a bumpy road profile. Moreover, the cumulative power spectral density (CPSD) of vehicle body acceleration assessed in both low- and high-frequency regions manifests the significant improvement in the ride comfort.

scholarly journals Modeling, Identification, and Simulation of Positional Displacement Control for Ribbon Bridges

2018 ◽  
Vol 159 ◽  
pp. 02026
Author(s):  
Van Trong Nguyen ◽  
Yong-Woon Choi ◽  
Jung-In Yoon ◽  
Kwang-Hwan Choi ◽  
Chang-Hyo Son ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Numerical Study ◽  
System Modeling ◽  
Linear Quadratic Regulator ◽  
Displacement Control ◽  
Linear Quadratic ◽  
Model Based Control ◽  
Yaw Control ◽  
Simulation Results ◽  
Control Designs

The demand of river-crossing is steadily increasing, the speedy and safety are two most important factors that decide the success of the applied solutions. This paper partially proposes a method for ribbon bridge installation and self-correction by describing the planar motion for a ribbon bridge, including several experimentally identified over a certain range of speeds. The mathematical modeling and system identification aim to provide a model that is sufficient for allowance of model-based control designs. In order to design the stable yaw control system of auto-correction of positional displacement, the Linear-Quadratic Regulator (LQR) was employed for yaw controller. Accordingly, the numerical study was carried out under a variety of disturbances to verify the system modeling and the efficiency of the designed controller. The simulation results demonstrate that the proposed controller has promising feasibility of the yaw placement automatic correct during operation and further extended results of the whole bridge system.

scholarly journals Flight control law of unmanned aerial vehicles based on robust servo linear quadratic regulator and Kalman filtering

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668695 ◽  
Author(s):  
Yongfeng Zhi ◽  
Gaoshang Li ◽  
Qun Song ◽  
Ke Yu ◽  
Jun Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Kalman Filtering ◽  
Flight Control ◽  
Pitch Angle ◽  
Linear Quadratic Regulator ◽  
Control Law ◽  
Linear Quadratic ◽  
Aerial Vehicles ◽  
Simulation Results ◽  
Influence Of Noise

A new flight control law for unmanned aerial vehicles based on robust servo linear quadratic regulator control and Kalman filtering is proposed. This flight control law has a simple structure with high dependability in engineering. The pitch angle controller, which is designed based on the robust servo linear quadratic regulator control, is given to show the flight control law. Simulation results show that the pitch angle controller works well under noise-free conditions. Finally, Kalman filtering is applied to the pitch angle controller under noisy conditions, and the simulation results show that the proposed method reduces the influence of noise.

scholarly journals Semi-Active Control of Vehicle Seat Suspension System with Magnetorheological Damper

2011 ◽  
Vol 2-3 ◽  
pp. 1067-1070
Author(s):  
Hai Jun Xing ◽  
Shao Pu Yang ◽  
Yong Jun Shen
Keyword(s):  
Active Control ◽  
Ride Comfort ◽  
Linear Quadratic Regulator ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Vehicle Body ◽  
Control Force ◽  
Linear Quadratic ◽  
Seat Suspension ◽  
Vehicle Seat

This research aims at the vibration control of vehicle seat suspension system. A three degree of freedom quarter vehicle model is used for semi-active control system in which a magnetorheological damper (MRD) is installed at the position between the vehicle body and the seat. A fully active linear quadratic regulator (LQR) control strategy is used to determine the optimized control force which is then matched by MRD to compute the semi-active control result. Computation result proves that semi-active control with MRD can alleviate the vehicle seat acceleration to improve ride comfort.

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