Skip to main content
main-content

Tipp

Weitere Kapitel dieses Buchs durch Wischen aufrufen

2020 | OriginalPaper | Buchkapitel

Design of an Improved Robust Active Trailer Steering Controller for Multi-trailer Articulated Heavy Vehicles Using Software/Hardware-in-the-Loop Real-Time Simulations

verfasst von: Mutaz Keldani, Yuping He

Erschienen in: Advances in Dynamics of Vehicles on Roads and Tracks

Verlag: Springer International Publishing

share
TEILEN

Abstract

This paper presents a robust active trailer steering (ATS) system for Multi-Trailer Articulated Heavy Vehicles (MTAHVs) using Software/Hardware-In-the-Loop (SHIL) Real-Time (RT) simulations. The Linear Quadratic Regulator (LQR) technique was applied to ATS controller designs. In the designs, vehicle parameters are assumed to be constant. In reality, these parameters may vary. Thus, the robustness of the LQR-based controllers is questioned. To address the problem, a robust controller was designed using a Linear Matrix Inequality (LMI) based LQR method. To evaluate the robustness of the LMI+LQR-based controller, the directional performance of an A-train Double was simulated [1]. However, the ATS actuator model is not realistic, and trailer payload variation was not considered. In the current research, an improved LMI+LQR-based controller is designed considering the uncertainty of a hydraulic ATS actuator and trailer payload variation. The robustness of the improved controller is demonstrated by evaluating the directional performance of a B-Train Double.
Literatur
2.
Zurück zum Zitat Kapoor, S.: Fault-tolerant control of active trailer steering systems for multi-trailer articulated heavy vehicles. Master’s thesis, University of Ontario Institute of Technology (2017) Kapoor, S.: Fault-tolerant control of active trailer steering systems for multi-trailer articulated heavy vehicles. Master’s thesis, University of Ontario Institute of Technology (2017)
3.
Zurück zum Zitat Fancher, P., Winkler, C.: Directional performance issues in evaluation and design of articulated heavy vehicles. Veh. Syst. Dyn. 45(7–8), 607–647 (2007) CrossRef Fancher, P., Winkler, C.: Directional performance issues in evaluation and design of articulated heavy vehicles. Veh. Syst. Dyn. 45(7–8), 607–647 (2007) CrossRef
4.
Zurück zum Zitat Brown, J.: High-speed lateral stability analysis of articulated heavy vehicles using driver-in-the-loop real time simulation. Master’s thesis, University of Ontario Institute of Technology (2018) Brown, J.: High-speed lateral stability analysis of articulated heavy vehicles using driver-in-the-loop real time simulation. Master’s thesis, University of Ontario Institute of Technology (2018)
5.
Zurück zum Zitat Sikder, T.: Design of active trailer steering systems for long combination vehicles using robust control techniques. Master’s thesis, University of Ontario Institute of Technology (2017) Sikder, T.: Design of active trailer steering systems for long combination vehicles using robust control techniques. Master’s thesis, University of Ontario Institute of Technology (2017)
6.
Zurück zum Zitat International Organization for Standardization. Road vehicles – heavy commercial vehicle combinations and articulated buses – lateral stability test methods. ISO-14791:2000(E). International Organization for Standardization, Geneva (2000) International Organization for Standardization. Road vehicles – heavy commercial vehicle combinations and articulated buses – lateral stability test methods. ISO-14791:2000(E). International Organization for Standardization, Geneva (2000)
7.
Zurück zum Zitat Fitri, I., Kim, J., Song, H.: A robust suboptimal current control of an interlink converter for a hybrid AC/DC microgrid. Energies 11(6), 1382 (2018) CrossRef Fitri, I., Kim, J., Song, H.: A robust suboptimal current control of an interlink converter for a hybrid AC/DC microgrid. Energies 11(6), 1382 (2018) CrossRef
8.
Zurück zum Zitat Balas, G., Chiang, R., Packard, A., Safonov, M.: Robust Control Toolbox Users Guide. Mathworks, Natick (2007) Balas, G., Chiang, R., Packard, A., Safonov, M.: Robust Control Toolbox Users Guide. Mathworks, Natick (2007)
Metadaten
Titel
Design of an Improved Robust Active Trailer Steering Controller for Multi-trailer Articulated Heavy Vehicles Using Software/Hardware-in-the-Loop Real-Time Simulations
verfasst von
Mutaz Keldani
Yuping He
Copyright-Jahr
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_162

Stellenausschreibungen

Anzeige

Premium Partner