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AUTOMOTIVE CONTROL
Assignment 4
Question 1
The linearized vehicle model is
CF CR
mCOG vCOG
C l C l
F F
R R
JZ
CRlR CF lF
CF
1
2
mCOG vCOG
mCOG vCOG W
2
2
C R l R C F l F C F l F
JZ
J Z vCOG
y 0 1
Now applying the given values,
2.66 0.87 0.79
W
24.68 3.52 8.69
y 0 1
2.66 0.87
A
24.68 3.52
0.79
B
8.69
As the output of the model is Yaw rate, ; C 0 1
and assuming rational and proper transfer function, D 0
Now the Transfer function,
G( s)
8.69s 42.61
s 6.18s 30.84
2
The poles of the transfer function are in the left side of the S-plane. So the system is
Stable.
Root Locus Plot:
Root Locus
6
0.925
0.965
0.87
0.76
0.6
0.35
0.984
20
0
-2
0.996
17.5
15
12.5
10
7.5
2.5
0.996
0.984
-4
0.965
-6
-20
0.925
-15
0.87
-10
0.76
0.6
-5
0.35
0
SIMULINK Model:
Question 2
The transfer function is,
1
( s a11 )
JZ
R( s)
G(s)
where,
a 21 24.68
[Reference: Problem - 1]
a 22 3.52
So, G( s)
R( s )
s 2.66
2
M Z ( s) 3545( s 6.18s 30.8)
Gc ( s)G( s)
1 Gc ( s)G ( s)
( K P s K I ) NUM
( K P s K I )(s 2.66) / 3545
2
s * DEN ( K P s K I ) NUM 3545s( s 6.18s 30.8) ( K P s K I )(s 2.66)
---------
------(i)
Now as,
0.7
n 10(rad / s)
--------------- (ii)
K P 34528
From (i) and (ii) equating the coefficients Gains are,
K I 248648
and a=1.92
Question 3
Vehicle parameter values are given.
Desired slip ratio 0.15
The peak friction coefficient is 0.3 at slip 0.15. 60% static weight is distributed on front
axle and 40% on rear axle.
Neglect the dynamic weight transfer due to deceleration and steering.
We are given,
0.9
,
n 5(rad / s)
1 PD ( s) G ( s) 0
1 ( K P K D s)(
b
)0
sa
s a ( K P K D s)b 0
si
i (k i )
ki
0.3
2 ,
0.15
--------------------- (i)
a(
b
R
si Fzi si g )
I i
R
,
I i
0.6
1740 g kg-m/s2
2
= 5120.82 kg-m/s2
Normal force at contact patch of rear wheel,
Fzri
0.4
1740 g kg-m/s2
2
= 3413.88 kg-m/s2
PI controller for Front Wheel
Transfer function, G( s)
b
0.35
s a s 1274.22
s+4.5= 0 (ii)
When we equate (i) and (ii) we get one equation and two unknowns thus we will have
infinite set of
K P 3627.1
K D 0.2
The characteristic equation we know that the only pole of the system is -4.5 thus the
system is stable. But since the gains are found negative, the desired performance is not
achievable. We need to either change the desired pole or tune them to find reasonable
gains.
K P 10 6
K D 0.2
O.L step response:
Response
Response
Transfer function, G( s)
b
0.35
s a s 856.02
Observations:
Since the plant (for both front and rear wheel ) has a pole very far in the left half plane,
both O.L and C.L response have super fat response while O.L has huge steady state error,
this error is removed by very large proportional gain.
Question 4
Vehicle parameter values are given.
Desired acceleration slip at 0.2
The road surface is covered with packed snow. The peak friction coefficient is 0.3 at slip
0.2. 60% static weight is distributed on front axle and 40% on rear axle.
Neglect the dynamic weight transfer due to deceleration & steering and no engine
intervention.
Assuming, Rising time, Tr1 = 70 ms and Max Overshoot < 10 %.
So we get,
0.8
n 2(rad / s)
---------------- (i)
Now,
si
i (k th )
k th
0.3
1.5
0.2
Now PID controller was preferred for the Brake based Traction Control System. [you can
use any other controller]
Close loop characteristics equation is given by
1 PID ( s) G ( s) 0
K
b
1 ( K P I )(
)0
s sa
s^2 (a bK P )s bK I 0
a(
where,
b
--------------------- (ii)
R
si Fzi si g )
I i
R
I i
0.6
1740 g kg-m/s2
2
= 5120.82 kg-m/s2
Normal force at contact patch of rear wheel,
Fzri
0.4
1740 g kg-m/s2
2
= 3413.88 kg-m/s2
Transfer function, G( s)
b
0.35
s a s 955.67
K P 2721.4
K I 11.43
Since the Kp is negative, the desired performance is not reachable and tuning the gains
which yields reasonable performance are:
K P 1220
K I 19650
b
0.35
s a s 642.02
K P 1825
K I 11.43
Again since Kp is negative , the desired performance of the system is not reachable so we
need to tuned the gains to just find a reasonable performance close to what we firstly
wished to.
The tuned gains which give us similar step response for this section as well.
K P 960
K I 16450
O.L step response:
C.L
step
response: