Influence of freeplay and friction in steering system on double lane change manoeuvre
- Dariusz Więckowski, Dariusz Żardecki
- Kategoria: Pozostałe zagadnienia
Abstract: Sensitivity and simulation investigations of a car dynamics model with regard to freeplay (backlash in steering gear) and friction (friction with stiction in king-pins) is a subject of the paper. The studies deal with a problem of sensitivity of optimized manoeuvres (here double lane change manoeuvres). A criterion function refers to several evaluations (precision of manoeuvre, calm steering, feeling of comfortable travel). The optimization of input steering signal (steering wheel angle) is done on a reference model with „nominal” freeplay and friction parameters. His input signal is applied to a „real” vehicle having „real” freeplay and friction parameters. The differences of output signals as well as differences between criterion function values are a subject of sensitivity analysis. For modelling and simulation of freeplay / friction effects special piecewise-linear luz(…) and tar(…) projections have been used.
1. INTRODUCTION
Control systems based on computer and mechatronic devices change a car “philosophy” and technology. A typical handling is replaced by automatic control. Note, the ABS, ASR, ESP which enable automatic stabilization of car movements became standard systems in a modern car. We can notice also a big progress of prototype systems designed for automation of maneuvers (e.g. so called assistance steering systems). Such systems take advantage of reference simulation models of a car dynamics, which are executed by a computer in real time (“on-line” simulation), or are based on ready-to-use steering procedures elaborated with “off-line” simulation but activated automatically after detection and identification of road events.
A sensitivity analysis of vehicle system dynamics is a key for synthesis of control algorithms. An effective modeling requires many simplifying assumptions. Model reductions are demanded because of practical and theoretical limitations of identification and simulation procedures especially when they are provided for on-line calculations. This situation is typical also for reference models used in driver assistance systems aiding a correct execution of vehicle manoeuvres. For simplification of calculations of optimized steering input signals (e.g. (...)
Control systems based on computer and mechatronic devices change a car “philosophy” and technology. A typical handling is replaced by automatic control. Note, the ABS, ASR, ESP which enable automatic stabilization of car movements became standard systems in a modern car. We can notice also a big progress of prototype systems designed for automation of maneuvers (e.g. so called assistance steering systems). Such systems take advantage of reference simulation models of a car dynamics, which are executed by a computer in real time (“on-line” simulation), or are based on ready-to-use steering procedures elaborated with “off-line” simulation but activated automatically after detection and identification of road events.
A sensitivity analysis of vehicle system dynamics is a key for synthesis of control algorithms. An effective modeling requires many simplifying assumptions. Model reductions are demanded because of practical and theoretical limitations of identification and simulation procedures especially when they are provided for on-line calculations. This situation is typical also for reference models used in driver assistance systems aiding a correct execution of vehicle manoeuvres. For simplification of calculations of optimized steering input signals (e.g. (...)
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Źródło: Czasopismo Logistyka
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