Controller Design by SIMPACK/SIMAT/MATLAB: Disturbance Compensationby a Steer-by-Wire System in a MAN Truck

Transkript

1 Controller Design by SIMPACK/SIMAT/MATLAB: Disturbance Compensationby a Steer-by-Wire System in a MAN Truck Heinz Weinfurter, Technische Universität Graz, FTG Disturbance Compensation Contents Introduction Research-project Invent Modeling 2FHG / 155 FHG, Road models Disturbance compensation / control design Simulation results Test results and safety Summary Disturbance Compensation

2 Model 2DOF y C y u r ω z v y COG u f v ψ v x = v δ L x C x& = Ax + Bu + Gw y = C T x + Du O 0 x Implementation in Matlab/Simulink with 2 DOF Positions: y, ψ Velocities: v y, ω z Linear tyre model Disturbance: F y,m z Parameter v x 0 v 0 0 A = c 0 B = u m f c I z c 0 c c vm u + c u f 1 vi z tr tr G = 0 m 1 0 I z r 0 1 c u f + ctrur v vm 2 2 c u f ctrur vi z F w = M y z Disturbance Compensation SIMPACK Model MBS Model 155 degrees of freedom MAN TGA 460 tractor Gross vehicle weight 12t Disturbance Compensation

3 Road Models Automotive+ Model in SIMPACK Track groove Uneveness Disturbance Compensation Vehicle Dynamics Tyre Model TMeasy Connection of Vehicle- and Road model Disturbance Compensation

4 Track grooves Lateral force vs. camber Tyre is drawn out Depth up to 18mm High steering effort γ z N C y F z Track groove F N FS T F Sγ Disturbance Compensation Simulation environment MATLAB: 2DOF model and controller SIMAT: interface SIMPACK: Simulation 155DOF model compensation control MATLAB δ LR SIMAT State exchange at discrete timesteps SIMPACK Driver model x state determination x& = Ax + Bu + Gw y = C T x + Du Crosswind, Track grooves, uneveness a y, ω z Disturbance Compensation

5 Disturbance compensation Driver δ L Disturbance F y,m z + - δ LK Vehicle δ LR u d - + Reference model ω z, a y, v Offseilter Limiter u Offseilter ω z, a y, v Determine states State regulator Kx Determine states ω z,v y, y, ψ + - ω z,v y, y, ψ Disturbance Compensation Simulation Crosswind Without Compensation Compensation active Disturbance Compensation

6 Simulation Crosswind Crosswind 1.5sec, 80km/h Explicit reduction of the deviation Used steering angle: 0.4 Disturbance Compensation Simulation trackgrooves Simulation: MBS model with 155 degrees of freedom 10 2 ohne SGK mit SGK Yaw rate: evaluation in the frequency domain Clear disturbance reduction Amplitude Compensation limit at 1.5Hz Frequency [Hz] Disturbance Compensation

7 ZF Steer by Wire -Implementation D-Space control unit Steering wheel actuator: 2 E-Motors 2 angle sensors Steering hydraulics Electromagnetic clutch steering actuator steering-column stalk tie rod Steering gear Tyre Disturbance Compensation Test: Crosswind Straight track Clear compensation of the crosswind Without Compensation Compensation active Disturbance Compensation

8 Testing track grooves Evaluation of Yaw rate Drivers comment Good correlation to Simulation results Disturbance Compensation Summary Good results in simulation und testing Simulation minimize danger Increasing comfort und safety Investigation of further disturbances Test course: BMW Aschheim Disturbance Compensation