Some LPV Approaches for Vehicle Dynamics Control.
Event details
| Date | 02.12.2011 |
| Hour | 10:15 |
| Speaker | Pr. O. Sename, GIPSA-lab., Control System Department, Grenoble, France. |
| Location |
ME C2 405
|
| Category | Conferences - Seminars |
This talk aims at presenting the interest of the Linear Parameter Varying methods in automotive applications. The cases of the semi-active suspension control problem and the yaw control using braking and steering actuators will be presented.
Concerning the semi-active suspension control problem the challenge is the ability of taking into account the effect of the damper in the control design step. Different modeling strategies of semi-active dampers will be proposed allowing to take into account some nonlinearities and some LPV models will be. Then two control methodologies to handle the nonlinearities and constraints of semi-active dampers will be described.
The first approach proposes the introduction of a ’smart’ parameter is introduced to take the real abilities of the damper into account. This scheduling parameter is indeed defined as the difference between the real controlled damper force and the required one given by the controller.
In the second one an LPV model is written from a quarter-car vehicle model including a nonlinear semi-active damper model. The considered nonlinear static model is taken into account the bi-viscous and hysteretic behaviors of the damper. From this LPV model the dissipativity constraint of the semi-active damper leads to the problem of input saturation. This latter problem is actually solved by integrating the saturation constraint as a new scheduling parameter leading to the design of an LPV polytopic controller.
In the second part the synthesis of a robust gain-scheduled H_inf MIMO vehicle dynamic stability controller (VDSC) involving both steering and rear braking actuators is proposed to improve the yaw stability and lateral performances. The aim of this work is to provide a methodology to design such a controller while taking into account the braking actuator limitations and use the steering actuator only if it is necessary. These objectives are treated in an original way by the synthesis of a parameter-dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. Nonlinear time and frequency domain simulations on a complex full vehicle model (which has been validated on a real car) subject to critical driving situations show the efficiency and robustness of the proposed solution.
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- Free