Research Papers

Feedback Linearization Tracking Control of Vehicle Longitudinal Acceleration Under Low-Speed Conditions

[+] Author and Article Information
Bin Yang

State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P.R.C.binyang76@gmail.com

Li Keqiang

State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, P.R.C.

Feng Nenglian

College of Environmental and Energy Engineering, Beijing University of Technology, Beijing 100124, P.R.C.

J. Dyn. Sys., Meas., Control 130(5), 051007 (Aug 04, 2008) (12 pages) doi:10.1115/1.2957628 History: Received August 25, 2006; Revised April 27, 2008; Published August 04, 2008

This research addresses the modeling, design, and implementation of a longitudinal acceleration tracking control (LATC) system for a test vehicle at low speeds. An electronic throttle actuator for LATC system application is introduced first, which can be used to perform the switching of three functions arbitrarily: automatic LATC, manual drive-by-wire, and pure manual operation. Then, a nonlinear dynamics model for the test vehicle is proposed by using a state-space equation, and several major nonlinear components including the engine, torque converter, transmission, and electronic throttle actuator are considered simultaneously in this model. Furthermore, focusing on the electronic throttle actuator, the strong nonlinear factors induced by the Coulomb friction and torsion of the return spring are analyzed. In view of the nonlinearity of the proposed model, the concept of feedback linearization is employed to convert the nonlinear system into a linear canonical form, and the analysis of the stability caused by the model’s uncertainty is also discussed. Finally, an acceleration feedback linearization controller and a Kalman filter are introduced. They adopt the linear canonical form, which represents a simpler structure. The performance in tracking desired acceleration at low speeds is confirmed by both computer simulations and experiments.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Structural diagram of the vehicle LATC system

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Figure 2

Schematic of the electronic throttle actuator

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Figure 3

Illustration of the electronic throttle actuator

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Figure 4

Forces acting on a longitudinal motion vehicle

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Figure 5

Vehicle power train system

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Figure 6

Comparison between simulation model and measurement result

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Figure 7

Resistive torque of the actuator mechanism (a) Coulomb friction torque (b) Viscous friction torque (c) Lumped characteristics—Mathematical model ⋆ Measurement results of Coulomb and viscous friction torque

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Figure 8

Engine MAP chart

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Figure 9

Capacity characteristics and torque ratio of the torque converter (a) Capacity factor versus rotational speed ratio (b) Torque ratio versus rotational speed ratio

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Figure 10

Frequency-domain analysis of the vehicle simulation model

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Figure 11

Comparison of the simulation model, the control model, and the linear transfer-function model

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Figure 12

Complete structure of the acceleration tracking controller via feedback linearization

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Figure 13

Diagram of the vehicle LATC system using feedback linearization control

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Figure 14

Experimental scene of the longitudinal acceleration tracking control

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Figure 15

Simulation results ((a) Under creeping conditions (b) Under low-speed conditions)

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Figure 16

Experimental results (a) Under creeping conditions (b) Under low-speed conditions




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