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Fiver Project

1. The goal is to develop a simulation of a cruise control system for a car and design a controller to regulate speed for different road conditions. 2. The objectives are to: a) develop models of the car dynamics, controller, disturbances and feedback loop; b) analyze controller performance for different gains and distributions; c) design a controller for a test track. 3. A proportional-integral controller will be used to provide robust control. The controller output is the engine force which controls car speed. Road inclination will change over time in the simulation.

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28 views2 pages

Fiver Project

1. The goal is to develop a simulation of a cruise control system for a car and design a controller to regulate speed for different road conditions. 2. The objectives are to: a) develop models of the car dynamics, controller, disturbances and feedback loop; b) analyze controller performance for different gains and distributions; c) design a controller for a test track. 3. A proportional-integral controller will be used to provide robust control. The controller output is the engine force which controls car speed. Road inclination will change over time in the simulation.

Uploaded by

tehseenmisbah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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1 PROBLEM DESCRIPTION

The goal is to develop a simulation of a car driving along a road, and design a control system that will
regulate the speed of the car for different road conditions.

The project can be divided into three objectives:

1. 1- First objective of this project is to develop numerical models for a cruise control system,
incorporating a controller, the car dynamics, any disturbance, and an appropriate feedback
loop.
2. 2- The second objective is then to analyse the performance of the cruise controller looking
at sensitivity to different controller gains, and distributions.
3. 3- The third objective is to design a controller that your car can complete a simulated test
track.

Figure 1 shows a functional block diagram on a design for a car with a velocity (speed) controller.

1.1 Dynamic model

The equation of motion of the car can be modelled as a mass-spring-damper system, where the
direction of velocity is parallel to the road at all times. Fig 2 shows a free body diagram of the car.

The combined effect of car and rolling resistance constitute the damping of the vehicle, given by an
effective damping coefficient 𝑐. The car is a four door saloon with a mass of 1500 kg, and a ratio of
the damping coefficient to mass (𝑐/𝑚) of 0.02.

The force required to propel the car comes from the engine and transmission, and is
transmitted to the road by means of the friction vector between the tyres and the surface of
the road. This can be considered as one collective propulsive force vector 𝐹eng pointing
forwards along the direction of the road.
The road at any point can be flat or inclined by an angle 𝜃 relative to sea level (as a nominal
reference). The angle is positive for uphill, and negative for downhill.

1.2 Controller

The conventional industrial approach to providing robust control of a system such as this is to use
Proportional Integral (PI) control. A PI controller is represented mathematically in the time domain
as:

where 𝐾𝑝 is the gain of the proportional part of the controller, 𝐾𝑖 is the gain of the integral part, and
𝑒(𝑡) is the error signal. In Fig 1, the error 𝑒(𝑡) = 𝑣𝑟 − 𝑣(𝑡) is set to the difference between the target
and actual velocity of the car. PI control is useful because the integral part provides an additional
level of robustness for the maintenance of steady-state.

The PI controller needs to know continuously the speed of the car, and from that and a knowledge of
the required velocity (the set-point velocity) and the two gain constants such that it can generate
the control effort 𝑢(𝑡). The gain constants of the controller are fixed (constant), and are set by the
designer.

The control function 𝑢(𝑡) is what can control the car. The velocity is controlled through the engine,
which is controlled through the throttle of the engine, therefore the control torque is 𝑢(𝑡) =
𝐹eng(𝑡)/𝑚.

The road inclination angle will be given by a function 𝜃(𝑡), that, for the purposes of this simulation,
will change with the simulation time.

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