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Advanced Courses in Control System

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Advanced Courses in Control System

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  1. Advanced Courses in Control System April 15th, 2009 Pongsathorn Raksincharoensak

  2. Contents • Review of Control System • Automotive Control System : ITS • ACC (Adaptive Cruise Control;Vehicle Spacing Control) • LKS (Lane Keeping System) • Automotive Control System : Chassis Control • Longitudinal Control : ABS • Lateral Control : 4WS, DYC • Vertical Control : Active Suspension Control Problems Using MATLAB/Simulink will be provided for the evaluation.

  3. References • Richard C.Dorf , and Robert H. Bishop Modern Control Systems, Prentice Hall • Other prints in the class. • In Japanese 制御関係:   野波健蔵、西村秀和著、 MATLABによる制御理論の基礎 自動車関係: 大川進・本田昭著 よくわかる図解とシミュレーションで学ぶ自動車のモーションコントロール技術入門、山海堂.

  4. Tokyo Univ. of Agriculture & Technology Mech. Sys. Eng. Nagai Laboratory Control Theory • PID Control • (Proportional , Integral, Derivative) (1) Desired value + error input output Plant _ “Feedback Compensation”

  5. Tokyo Univ. of Agriculture & Technology Mech. Sys. Eng. Nagai Laboratory Control Theory • Design by Inverse Model (2) Inverse model Plant Inverse model Plant Regulator Feedforward Compensation by Inverse model Inverse model + Feedback compensation

  6. Tokyo Univ. of Agriculture & Technology Mech. Sys. Eng. Nagai Laboratory Control Theory • Model Matching Control (3) Feedforward compensator Plant Feedback compensator Desired model PlantDesired response model 2 DOF Control System = Feedforward  + Feedback

  7. Tokyo Univ. of Agriculture & Technology Mech. Sys. Eng. Nagai Laboratory Automotive Terminology Active Safety Technology , related to the field of control engineering, can be divided into 2 main categories. Driver Assistance Control to reduce driver workload. ・ ACC : Adaptive Cruise Control ・ LKS : Lane Keeping System Vehicle Dynamics Control to improve vehicle motion in critical situation.   ・ABS : Anti-skid Brake System ・TCS: Traction Control System   ・4WS: Four-Wheel-Steering, (Active Rear Steer)   ・AFS: Active Front Steer, (Steer-by-Wire, EPS)   ・DYC : Direct Yaw-moment Control, (VSC, ESP) ・ Active Suspension System

  8. MATLAB/Simulink Homework • Consider the torsional mechanical system in Figure 1. The torque due to the twisting of the shaft is -kq ; the damping torque due to the braking device is ; the disturbance torque is d(t) ; the input torque is r (t) ; and the moment of inertia of the mechanical system is J . • The transfer function of the torsional mechanical system is • A closed-loop control system for the system is shown in Figure 2. Suppose the desired angle qd = 0O , k = 5, b = 0.9, and J = 1. • Determine the open-loop response, q(t), of the system for a unit step disturbance, d(t), using MATLAB/Simulink (set r(t) = 0). • With the controller gain K0= 50, determine the closed-loop response, q(t), to a unit step disturbance, d(t), using MATLAB/Simulink. • Co-plot the open-loop versus the closed-loop response to the disturbance input. Discuss your results and make an argument for a value of controller gain to improve the disturbance rejection properties of the system.

  9. Figure 1 Figure 2