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Real-time performance of control allocation for actuator coordination in heavy vehicles

Kristoffer Tagesson (Institutionen för signaler och system) ; Peter Sundström (Institutionen för signaler och system) ; Leo Laine (Institutionen för tillämpad mekanik) ; Nicolas Dela
IEEE Intelligent Vehicles Symposium, Proceedings (1931-0587). p. 685-690. (2009)
[Konferensbidrag, refereegranskat]

This paper shows how real-time optimisation for actuator coordination, known as control allocation, can be a viable choice for heavy vehicle motion control systems. For this purpose, a basic stability control system implementing the method is presented. The real-time performance of two different control allocation solvers is evaluated and the use of dynamic weighting is analysed. Results show that sufficient vehicle stability can be achieved when using control allocation for actuator coordination in heavy vehicle stability control. Furthermore, real-time simulations indicate that the optimisation can be performed with the computational capacity of today's standard electronic control units. © 2009 IEEE.

Nyckelord: Actuators , Algorithms , Optimization methods , Real time systems , Road vehicle control , Safety



Denna post skapades 2014-08-26. Senast ändrad 2014-08-26.
CPL Pubid: 201950

 

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Institutioner (Chalmers)

Institutionen för signaler och system
Institutionen för tillämpad mekanik

Ämnesområden

Farkostteknik

Chalmers infrastruktur