Taşıt savrulma dinamiği kontrol sistemlerinde zaman gecikmesi etkisinin zaman gecikmesi gözleyicisi kullanılarak telafi edilmesi

Zaman gecikmesi kontrol sistemleri tasarımında dikkate alınması gereken sistemin performansını azaltan ve en kötü durumda da sistemi kararsız yapan etkenlerden birisidir. Zaman gecikmesi telafisi için literatürde pek çok yöntem önerilmiştir. Bunlardan en yaygın olarak kullanılanı Smith tahmincisidir. Smith tahmincisi kolaylıkla uygulanabilse de tahmincinin kullandığı zaman gecikmesi modeli ile sistemdeki gerçek zaman gecikmesi farklılaştıkça gecikme telafisi performansı düşmektedir. Bu metodun alternatifi olarak zaman gecikmesi gözleyicisi önerilmiş ve literatürde daha önce bilateral teleoperasyon sistemlerine, robotik manipülatörlere ve iletişim ağı tabanlı yürüyüş şekli rehabilitasyon cihazlarına uygulanmıştır. Bu çalışmada ise zaman gecikmesi gözleyicisinin taşıt savrulma dinamiği kontrolüne uygulanması ele alınmıştır. Zaman gecikmesi gözleyicisinin performansı zamanla değişen gecikmeler için çeşitli simülasyon çalışmalarıyla test edilmiş, ayrıca sonuçlar Smith tahmincisiyle karşılaştırılmıştır

Extremum-seeking control of ABS braking in road vehicles with lateral force improvement

An ABS control algorithm based on extremum seeking is presented in this brief. The optimum slip ratio between the tire patch and the road is searched online without having to estimate road friction conditions. This is achieved by adapting the extremum-seeking algorithm as a self-optimization routine that seeks the peak point of the tire force-slip curve. As an additional novelty, the proposed algorithm incorporates driver steering input into the optimization procedure to determine the operating region of the tires on the "tire force"-"slip ratio" characteristic-curve. The algorithm operates the tires near the peak point of the force-slip curve during straight line braking. When the driver demands lateral motion in addition to braking, the operating regions of the tires are modified automatically, for improving the lateral stability of the vehicle by increasing the tire lateral forces. A validated, full vehicle model is presented and used in a simulation study to demonstrate the effectiveness of the proposed approach. Simulation results show the benefits of the proposed ABS controller.Publisher's Versio

Cooperative adaptive cruise control implementation of team mekar at the grand cooperative driving challenge

Turan, Murat Can (Arel Author)This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The vehicle was equipped with real-time kinematic Global Positioning System (RTK GPS) and an IEEE 802.11p modem installed in an onboard computer for vehicle-to-vehicle (V2V) communication. The Team Mekar vehicle did not have an original-equipment-manufacturers-supplied adaptive cruise control (ACC). ACC/Cooperative adaptive cruise control (CACC) based on V2V-communicated GPS position/velocity and preceding vehicle acceleration feedforward were implemented in the Team Mekar vehicle. This paper presents experimental and simulation results of the Team Mekar CACC implementation, along with a discussion of the problems encountered during the GCDC cooperative mobility runs