Controller Design by SIMPACK/SIMAT/MATLAB ... · PDF fileController Design by...
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Disturbance Compensation 10.11.2004 MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 1 Heinz Weinfurter Controller Design by SIMPACK/SIMAT/MATLAB: Disturbance Compensation by a Steer-by-Wire System in a MAN Truck Heinz Weinfurter, Technische Universität Graz, FTG Disturbance Compensation 10.11.2004 MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 2 Heinz Weinfurter Contents § Introduction § Research-project „Invent“ § Modeling 2FHG / 155 FHG, Road models § Disturbance compensation / control design § Simulation results § Test results and safety § Summary
Transcript of Controller Design by SIMPACK/SIMAT/MATLAB ... · PDF fileController Design by...
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 1Heinz Weinfurter
Controller Design by SIMPACK/SIMAT/MATLAB:Disturbance Compensation by a Steer-by-Wire System
in a MAN Truck
Heinz Weinfurter, Technische Universität Graz, FTG
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 2Heinz Weinfurter
Contents
§ Introduction
§ Research-project „Invent“
§ Modeling 2FHG / 155 FHG, Road models
§ Disturbance compensation / control design
§ Simulation results
§ Test results and safety
§ Summary
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 3Heinz Weinfurter
Model 2DOF
§ Implementation in Matlab/Simulinkwith 2 DOF§ Positions: y, ψ§ Velocities: vy, ωz§ Linear tyre model§ Disturbance: Fy, Mz§ Parameter vx
ur
COG
ωz
δLψvyv
vx = v
yC
xC
y
O0
uf
x
uuDxCy
GwBAxxT +=
++=&
−−+−
−+−−−
=
z
rtrftf
z
rtrftf
rtrftftrtf
vIucuc
vIucuc
vvm
ucucvm
cc
v
22
00
00
1000010
A
=
z
tff
tf
Icu
mc00
B
=
zI
m10
010000
G
=
z
y
MF
w
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 4Heinz Weinfurter
SIMPACK Model
§ MBS Model§ 155 degrees of freedom
§ MAN TGA 460 tractor§ Gross vehicle weight 12t
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 5Heinz Weinfurter
Track groove
Uneveness
Automotive+ Model in SIMPACK
Road Models
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 6Heinz Weinfurter
Tyre Model TMeasy§ Vehicle Dynamics
§ Connection of Vehicle- and Roadmodel
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 7Heinz Weinfurter
Track grooves
§ Lateral force vs. camber§ Tyre is drawn out
y
zγ
Fz
TFN FS
FSγ
Track groove
C
N
§ Depth up to 18mm§ High steering effort
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 8Heinz Weinfurter
Simulation environment
§ MATLAB: 2DOF model and controller§ SIMAT: interface§ SIMPACK: Simulation 155DOF model
SIMPACK
Crosswind,Track
grooves,uneveness
compensationcontrol
statedetermination
ay, ωz
MATLAB
Driver model
x
δLR
SIMAT
uuDxCy
GwBAxxT +=
++=&
§ State exchange at discrete time-steps
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 9Heinz Weinfurter
Disturbance compensation
Driver
Vehicle
δL
ωz, ay, v
ωz’, vy’, y’, ψ’
State regulatorKx
δLR
-δLK
Disturbance
Fy, Mz
Limiter
Reference model
+-
Determinestates
Determinestates
Offsetfilter Offsetfilter
+
-+
ωz, vy, y, ψ
ωz’, ay’, v
u
ud
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 10Heinz Weinfurter
Simulation Crosswind
Without Compensation Compensation active
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 11Heinz Weinfurter
Simulation Crosswind
§ Crosswind 1.5sec,80km/h
§ Explicit reduction of thedeviation
§ Used steering angle: 0.4°
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 12Heinz Weinfurter
Simulation track grooves
§ Simulation:MBS model with 155 degrees of freedom
§ Yaw rate:evaluation in the frequency domain
§ Clear disturbance reduction
§ Compensation limit at 1.5Hz
10-1 100 10110-2
10-1
100
101
102
Frequency [Hz]
Am
plitu
de
ohne SGKmit SGK
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 13Heinz Weinfurter
ZF Steer by Wire - Implementation
Steeringhydraulics
Steering wheel actuator:2 E-Motors2 angle sensors
Electromagnetic clutch
steering actuator
tie rod
Steering gear
D-Spacecontrol unit
Tyre
steering-column stalk
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 14Heinz Weinfurter
Test: Crosswind
Without Compensation Compensation active
§ Straight track§ Clear compensation of the crosswind
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 15Heinz Weinfurter
Testing track grooves
§ Evaluation of Yaw rate§ Drivers comment
§ Good correlation to Simulationresults
Disturbance Compensation 10.11.2004MAN Nutzfahrzeuge Gruppe / TU-GRAZ FTG 16Heinz Weinfurter
Summary
§ Good results in simulation undtesting
§ Simulation –minimize danger
§ Increasing comfort und safety
§ Investigation of furtherdisturbances
§ Test course: BMW Aschheim
