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Exploring assumptions and requirements for continuous modification of vehicle handling using non-linear optimal control and a new exponential tyre model

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conference contribution
posted on 2011-04-27, 11:58 authored by Matt BestMatt Best
An iterative simulation-based nonlinear optimisation technique is used here to explore optimally controlled behaviour of a large RWD vehicle with rear steer and idealised differential actuators. A novel tyre model is also introduced, which uses simple analytic functions for separated calculation of lateral and longitudinal force, with both based on the combined slip and vertical load. By first considering suitable transient and steady-state targets for the yaw rate, optimal control is simulated which is effective throughout the lateral acceleration range. Interestingly this can be closely emulated under stable conditions using PID control of rear steer only, according to the yaw rate target and without the need for separate lateral velocity control. PID is no longer successful when stabilising control is considered, so future research will consider an extension to the nonlinear optimisation method for such cases.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Citation

BEST, M.C., 2010. Exploring assumptions and requirements for continuous modification of vehicle handling using non-linear optimal control and a new exponential tyre model. IN: Proceedings of the 10th International Symposium on Advanced Vehicle Control (AVEC), Loughborough, UK, 22nd-26th August, pp. 79–84.

Publisher

© Loughborough University / Society of Automotive Engineers of Japan (JSAE)

Version

  • AM (Accepted Manuscript)

Publication date

2010

Notes

This is a conference paper.

ISBN

9780904947656;0904947653

Language

  • en

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