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Journal of Dynamic Systems, Measurement, and Control | Volume 130 | Issue 5 | Research Paper
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
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Citing Articles

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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References

1
Yang, B., Keqiang, L., Xiaomin, L., Ukawa, H., Handa, M., and Idonuma, H., 2004, “Longitudinal Acceleration Tracking Control of Vehicular Stop-And-Go Cruise Control System,” "2004 IEEE International Conference on Networking, Sensing and Control", Vol. 1 , pp. 607–612.
2
Hedrick, J. K., McMahon, D. H., and Swaroop, D., 1993, “Vehicle Modeling and Control for Automated Highway Systems,” California PATH Research Report, University of California at Berkeley, Report No. UCB-ITS-PRR-93.24.
3
Yi, K., Moon, H., and Kwon, D., 2001, “A Vehicle-to-Vehicle Distance Control Algorithm for Stop-and-Go Cruise Control,” "Proceedings of the Fourth International IEEE Conference on Intelligent Transportation Systems".
4
Omae, M., 1999, “Studying on the Control System for Vehicle Platooning,” Ph.D., University of Tokyo, Tokyo, Japan.
5
Fritz, A., and Schienlen, W., 1999, “Automatic Cruise Control of a Mechatronically Steered Vehicle Convoy,” Veh. Syst. Dyn., 32 , pp. 331–344.
6
Fritz, A., and Schienlen, W., 2000, “Nonlinear ACC in Simulation and Measurement,” "Proceedings of the AVEC 2000, Fifth International Symposium on Advanced Vehicle Control", Aug. 22–24, Ann Arbor, MI.
7
Schiehlen, W., and Fritz, A., 1999, “Nonlinear Cruise Control Concepts for Vehicles in Convoy,” Veh. Syst. Dyn., 33 , pp. 256–269.
8
Rajamani, R., Tan, H.-S., Law, B. K, and Zhang, W.-B., 2000, “Demonstration of Integrated Longitudinal and Lateral Control for the Operation of Automated Vehicles in Platoons,” IEEE Trans. Control Syst. Technol.  [CrossRef], 8 (4), pp. 695–708.
9
Gillespie, T. D., 1992, "Fundamentals of Vehicle Dynamics", Society of Automotive Engineers, Inc., Warrendale.
10
Khalil, H. K., 2002, "Nonlinear Systems", Prentice-Hall, Upper Saddle River, NJ.
11
Isidori, A., 1985, "Nonlinear Control Systems", Springer, Berlin.
12
Sotine, J., and Li, W., 1991, "Applied Nonlinear Control", Prentice-Hall Inc., Englewood Cliffs, NJ.
13
Bin, Y., Li, K., Ukawa, H., and Handa, M., 2006, “Modeling and Control of Nonlinear Dynamic System for Heavy-Duty Trucks,” Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.), 220 (10), pp. 1423–1435.
14
Venhovens, P. J. T., and Naab, K., 1999, “Vehicle Dynamics Estimation Using Kalman Filters,” Veh. Syst. Dyn.  [CrossRef], 32 , pp, 171–184.

Figures

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+Structural diagram of the vehicle LATC system
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Structural diagram of the vehicle LATC system
Figure 1

Structural diagram of the vehicle LATC system

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+Schematic of the electronic throttle actuator
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Schematic of the electronic throttle actuator
Figure 2

Schematic of the electronic throttle actuator

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+Illustration of the electronic throttle actuator
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Illustration of the electronic throttle actuator
Figure 3

Illustration of the electronic throttle actuator

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+Forces acting on a longitudinal motion vehicle
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Forces acting on a longitudinal motion vehicle
Figure 4

Forces acting on a longitudinal motion vehicle

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+Vehicle power train system
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Vehicle power train system
Figure 5

Vehicle power train system

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+Comparison between simulation model and measurement result
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Comparison between simulation model and measurement result
Figure 6

Comparison between simulation model and measurement result

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+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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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
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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+Engine MAP chart
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Engine MAP chart
Figure 8

Engine MAP chart

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+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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Capacity characteristics and torque ratio of the torque converter (a) Capacity factor versus rotational speed ratio (b) Torque ratio versus rotational speed ratio
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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+Frequency-domain analysis of the vehicle simulation model
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Frequency-domain analysis of the vehicle simulation model
Figure 10

Frequency-domain analysis of the vehicle simulation model

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+Comparison of the simulation model, the control model, and the linear transfer-function model
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Comparison of the simulation model, the control model, and the linear transfer-function model
Figure 11

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

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+Complete structure of the acceleration tracking controller via feedback linearization
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Complete structure of the acceleration tracking controller via feedback linearization
Figure 12

Complete structure of the acceleration tracking controller via feedback linearization

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+Diagram of the vehicle LATC system using feedback linearization control
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Diagram of the vehicle LATC system using feedback linearization control
Figure 13

Diagram of the vehicle LATC system using feedback linearization control

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+Experimental scene of the longitudinal acceleration tracking control
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Experimental scene of the longitudinal acceleration tracking control
Figure 14

Experimental scene of the longitudinal acceleration tracking control

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+Simulation results ((a) Under creeping conditions (b) Under low-speed conditions)
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Simulation results ((a) Under creeping conditions (b) Under low-speed conditions)
Figure 15

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

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+Experimental results (a) Under creeping conditions (b) Under low-speed conditions
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Experimental results (a) Under creeping conditions (b) Under low-speed conditions
Figure 16

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

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