JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2010, Vol. 40 ›› Issue (1): 10-14.

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On manned AWID-AWIS vehicle dynamics control

  

  1.  RUAN Jiu-Hong, LI Yi-Bin, YANG Fu-Guang, RONG Xue-Wen:Center for Robotics, Shandong University, Jinan 250061, China;  RUAN Jiu-Hong: State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
  • Received:2009-04-16 Online:2010-02-16 Published:2009-04-16

Abstract:

As an essential characteristic, controlredundancy makes the AWID-AWIS (All-Wheel-Independent-Drive & Steering) vehicle dynamics control generally realized by the hierarchical control method. In this paper, the body dynamics control of the manned AWIDAWIS vehicle was studied. First, the driver’s intention and reference model were used to produce control targets. Then the extended state observer (ESO) was used to estimate the “internal disturbance” and“external disturbance” in realtime, and the vehicle dynamics active disturbance rejection controller (ADRC) was subsequently designed. Third, the vehicle’s motions under different conditions were simulated, and the problems between the system’s control ability restrictions and the driver's intentions were discussed. The necessity and future work direction of solving the problems werealso pointed out.

Key words: AWID-AWIS vehicle, manned driving, dynamics control, extended state observer(ESO), active disturbance rejection control (ADRC)

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