Session: AVT-01-01 Advances in Ground Vehicle Dynamics and Controls

Paper Number: 69432

Start Time: August 17, 11:10 AM

69432 - Direct Longitudinal Force Feedback for High-Performance Vehicle Dynamics Control Systems 

State of the art vehicle dynamics control systems do not exploit tire road forces information, even though the vehicle behaviour is ultimately determined by the tire road interaction. Recent technological improvements allow to accurately measure and estimate these variables, making it possible to introduce such knowledge inside a control system. In this paper, a vehicle dynamics control architecture based on a direct longitudinal tire force feedback is proposed. The scheme is made by a nested architecture composed of an outer model predictive control algorithm, written in spatial coordinates, and an inner longitudinal force feedback controller. The latter is made by four classical Proportional-Integral controllers in anti-windup configuration, endowed with a suitably designed gain switching logic to cope with possible unfeasible references provided by the outer loop, avoiding instability. The proposed scheme is tested in simulation in a challenging scenario where the tracking of a spiral path on a slippery surface and the timing performance are handled simultaneously by the controller. The performance is compared with that of an inner slip-based controller, sharing the same outer model predictive control loop. The results show comparable performance in presence of unfeasible force references, while higher robustness is achieved with respect to friction curve uncertainties.

Presenting Author: Giorgio Riva Politecnico di Milano

Authors:

Giorgio Riva Politecnico di Milano
Luca Mozzarelli Politecnico di Milano
Matteo Corno Politecnico di Milano
Simone Formentin Politecnico di Milano
Sergio M. Savaresi Politecnico di Milano