TY - GEN
T1 - Non-linear dynamic vehicle model and its inverse for brake control
AU - De Vries, E. J.H.
AU - Rixen, D. J.
PY - 2010
Y1 - 2010
N2 - For automated controlled braking of cars, a feed-forward control strategy is proposed that uses the inverse of a quarter-car model, with a LuGre tyre model. To build the inverse of this non-linear system the theory of flatness has been applied, by defining the vehicle velocity as flat output. In the derivation of the inverse of a quarter-car, the assumption of a constant wheel load during braking can be questioned. A half car model with a front and rear wheel shows dynamic wheel load variations during braking. These variations can be incorporated in the inverse model, but they also influence the brake force demand on the front and rear wheel. To allow individual assessment of the front and rear brake force, their impulses are presented as the 'flat outputs' for a feed-forward control. The force distribution can then be defined separately from the inverse model, which fits in a layered, modular control architecture. Initial experiments with feedforward control of a single braked wheel on an indoor test rig were shown.
AB - For automated controlled braking of cars, a feed-forward control strategy is proposed that uses the inverse of a quarter-car model, with a LuGre tyre model. To build the inverse of this non-linear system the theory of flatness has been applied, by defining the vehicle velocity as flat output. In the derivation of the inverse of a quarter-car, the assumption of a constant wheel load during braking can be questioned. A half car model with a front and rear wheel shows dynamic wheel load variations during braking. These variations can be incorporated in the inverse model, but they also influence the brake force demand on the front and rear wheel. To allow individual assessment of the front and rear brake force, their impulses are presented as the 'flat outputs' for a feed-forward control. The force distribution can then be defined separately from the inverse model, which fits in a layered, modular control architecture. Initial experiments with feedforward control of a single braked wheel on an indoor test rig were shown.
UR - http://www.scopus.com/inward/record.url?scp=84906341854&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84906341854
T3 - Proceedings of ISMA 2010 - International Conference on Noise and Vibration Engineering, including USD 2010
SP - 4109
EP - 4124
BT - Proceedings of ISMA 2010 - International Conference on Noise and Vibration Engineering, including USD 2010
A2 - Sas, P.
A2 - Bergen, B.
PB - Katholieke Universiteit Leuven
T2 - 24th International Conference on Noise and Vibration Engineering, ISMA 2010, in conjunction with the 3rd International Conference on Uncertainty in Structural Dynamics, USD 2010
Y2 - 20 September 2010 through 22 September 2010
ER -