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Real-Time Non-Linear Vehicle Dynamics Preview Model: Bernard Linström

The document describes research into developing a real-time non-linear vehicle preview model to improve vehicle dynamics control systems. It outlines the motivation to model SUV rollover risks and control delays. The preview model uses differential equations to predict vehicle state at a specified future time based on current inputs. Experimental tests showed the model solves quickly enough for real-time use and improves handling performance when combined with an existing control strategy.

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0% found this document useful (0 votes)
51 views19 pages

Real-Time Non-Linear Vehicle Dynamics Preview Model: Bernard Linström

The document describes research into developing a real-time non-linear vehicle preview model to improve vehicle dynamics control systems. It outlines the motivation to model SUV rollover risks and control delays. The preview model uses differential equations to predict vehicle state at a specified future time based on current inputs. Experimental tests showed the model solves quickly enough for real-time use and improves handling performance when combined with an existing control strategy.

Uploaded by

AhmadMoaaz
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 19

2013/12/20

Real-time non-linear vehicle dynamics


preview model

Bernard Linström

5 November 2013

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Introduction
• Sport Utility Vehicles (SUVs) are designed for smooth as
well as rough off-road terrains.
• SUVs have a higher ride height and softer suspension to
accommodate for all types of terrains.
• SUVs are more prone to rollover than any other type of
vehicle.

Country Percentage of Total Percentage of Fatal


Accidents Accidents
U.S.A. 2.3% 33%
South Africa 24% 25%

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Control System Delay

Aim:
• Develop a real-time non-linear vehicle preview model

• Implement the model to improve the delay of an existing


strategy

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Vehicle Preview Model


Assumptions for duration of preview time:
• Constant longitudinal speed

• No aerodynamic forces

• Only lateral load transfer is considered

• Fixed centre of gravity position

• Constant steer rate

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Vehicle Preview Model


• Based on the current vehicle state (inputs) the preview model predicts the
future vehicle state (outputs) at a specified preview time

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VPM Explained

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Runge-Kutta Solver

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Differential Equations

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Differential Equations

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Experimental Validation

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• Switches between “handling” and


“ride comfort” mode

• Controlled by running root mean


square (RRMS) strategy

• With a RRMS duration of 1s there is a


switching delay of 300ms

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Model Performance
Parameter

Side-Slip Angle

Yaw Rate

Roll Rate

Roll Angle

Lateral Acceleration

Preview Time Solving Time Solving Frequency

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Dynamic Handling Results

Strategy Time in Handling RMS of roll angle Percentage


Improvement

RRMS

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DLC Results

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City Results

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Highway Results

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Conclusion
• Preview model successfully developed and validated

• Model solves fast enough with good accuracy

• Used in combination with Running RMS improves handling

• No spurious switching of suspension

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Future Work
• Improve the suspension friction estimations

• Create lookup tables for suspension forces to improve solving


time

• Real-time centre of gravity estimation

• Apply the preview model to other vehicle control methods

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2013/12/20

Thank you

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