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006 State feedback linearizing control: Application to an engine car
Abstracts Abstracts in this section are from papers presented at: 12th IFAC TRIENNIAL WORLD CONGRESS ON AUTOMATIC CONTROL (VOLUME 3) Sydney, Australia, 18-23 July 1993 Full papers appear in the Proceedings volume to which the page numbers relate, published by IFAC and available from Elsevier Science (ISBN: 0 08 042214 4)
001 Robust Coor~inated Control for 4-Wheel-Steering and 4Wheel-Drive Vehicle E. One, K. Tmkmnmai, N. lwama, Y. Hayashl, Y. Hiraue, Y. Sate, p p l - 6
006 State Feedback Li~earizing Control: Application to a n an, S. Boverie, J.C. Marpinard, pp 2,5-28 This work concerns improvements to a spark ignition engine by using extensive automatic control. Particular attention is paid to fast transient phases, by acting simultaneously on the throttle and the electronic fuel injection device, to guarantee better regulation of the air/fuel ratio, and improve engine efficiency and exhaust emission. An average dynamic model of the intake is presented. Closed-loop control of the average pressure in the intake manifold limits variations of the air supply. Feedback linearization is used for tracking a chosen model of reference, with clcsed-loop dynamic error compensation. A predictor compensates for time delays in the injection procedure. Simulation and experimental results are compared.
This study aims at improving vehicle maneuverability for global turning motions including critical turning, by an integrated control strategy which coordinates steering and traction systems. The vehicle model expressing global turning motions has nonlinear dynamics, and this makes it impo~ble to apply the linear control theory directly. In this paper, the nonlinear vehicle model (which also mdudes Iransient characteristics of tires) is linearized by a nouliaear transformation, and I.t synthesis is applied to the linear model. As a result, an Integrated control strategy which compensates robust ~ability against perturbations generated under various driving environments is obtained. 002 Robust N e ~ e m - Deeonpll~ and Yaw Stabillz~on of Fonr-Whed Steerlmg Cars J. Aekermann, pp 7-10
007 l S e Speed Control of an Automotive Engine Using a Systematic Fuzzy Logic Methodology G. Vachtsevanm b pp 29-34
Fonr-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for rolmst demupling oflateral and yaw motionis derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rearwheel steering is given, by which the linenrized yaw subsystem gets velocity-independent eigenvalues.
This paper introduces a systematic control design methodology based upon direct intelligent fuzzy logic control. A method is developed to design fuzzy logic controllers for a class of complex nonlinear systems, using an automated rule generation scheme. The refiabifity of the controller performance can be potentially enhanced even in the presence of larse.-grained uncertainty. Specifications such as accuracy and precision can be arbitrarily adjusted as functious of the resolution of the design parameters. lhe systematic fuzzy logic control design procedure is applied to
003 Nonltamr Control of Body Side-Sap Angle for 4WS Vehidm J. Asgarl, D. ltrovat, pp 11-14
the problem of regulating the ideal speed of an automotive engine. Simulation resultsindicate the effectiveness and efficiency of the proposed approach.
Using a simple nonlinear 2D vehicle model, the paper compares a previously developed zero vehicle side-sliprear-steer control with corresponding nonlinear extensions. The comparison is done in terms of lateral velocities and yaw rates for small and large steering maneuvers.
008 Speed Measurement of Vehidm by Radio W a v e . Absolnte M~mmrement of Automobiles K. Kobaymhl, K. Watmabe, pp 35-38
004 Realtlme Estimation of Adhesion Characteristic Between T y r ~ and t o t a l U. Kioneke, pp 15-18
This paper describes a new type of absolute speedometer for automobiles. I t ~ known that the electric field intensity of radio waves in the UHF/VHF range exhibits spatial periodic patterns, clue to the multi-pass fading phenomenon. The authors have verified by laboratory experiment that this pattern can be as the spatial scale for speed measurement by the spatial 8 method. This paper considers how to realize an automobile speedometer based on the above idea. Further, the electric field intensity was measured at various sites under various speeds. It was demonstrated that the method could measure the speeds of automobiles in real situations.
ABS braking control algorithms may be enhanced, if the adhesion chatacter~c between tyres and road can be determined. On the basis of a one-wheel model, the actual adhesion coefficients are e~mated. By m e a ~ of an additional adhesion model, which covers the physical behaviotw of tyre friction upon the road surface, the parameters of the momentarily valid adhesion curve are estimated for each wheel.
009 Structured Black Box Model and Robust Control of the Exhaust G m Redrenlatlon of a Diesel Engine L. Del Re, A. Amstntz, pp 39-42
T. Vesterholm, E. HmdHcks, pip 19-24 In ~ .pa~er the design of a full-order nonlinear observer for a spark lgmuon (SI) engine is treated. When used together with a nonlinear fuel film compensator, this observer makes possible accurate transient and steady-state control of the combustion alrlfnel ratio over the entire operating range of the engine. The nonlinear compensato¢ and observer are discretized using continuous intesrstion algorithms and thus are realized as continuous differential equations. Because the observer is for a very stiff system, it has been necessary to design a special integration algorithm to integrate it in real time.
Exhaust gas recirculation is an effective technique to reduce pollutants from diesel engines. Most actual systems use a feedforward apprmch, which is basically very quick, but also very sensitive to model errors and wear, and requires extensive m odelfing.work. In order to.reduce both semitivity and modelling ettort' a different . a p p r ~ is presented, based on the use of a Zsensor as mensurmg element, a LQG/LTR controller designed using a black-box model. Rmpirical results show that the approach delivers very good results.
899
001 Robust Coor~inated Control for 4-Wheel-Steering and 4Wheel-Drive Vehicle E. One, K. Tmkmnmai, N. lwama, Y. Hayashl, Y. Hiraue, Y. Sate, p p l - 6
006 State Feedback Li~earizing Control: Application to a n an, S. Boverie, J.C. Marpinard, pp 2,5-28 This work concerns improvements to a spark ignition engine by using extensive automatic control. Particular attention is paid to fast transient phases, by acting simultaneously on the throttle and the electronic fuel injection device, to guarantee better regulation of the air/fuel ratio, and improve engine efficiency and exhaust emission. An average dynamic model of the intake is presented. Closed-loop control of the average pressure in the intake manifold limits variations of the air supply. Feedback linearization is used for tracking a chosen model of reference, with clcsed-loop dynamic error compensation. A predictor compensates for time delays in the injection procedure. Simulation and experimental results are compared.
This study aims at improving vehicle maneuverability for global turning motions including critical turning, by an integrated control strategy which coordinates steering and traction systems. The vehicle model expressing global turning motions has nonlinear dynamics, and this makes it impo~ble to apply the linear control theory directly. In this paper, the nonlinear vehicle model (which also mdudes Iransient characteristics of tires) is linearized by a nouliaear transformation, and I.t synthesis is applied to the linear model. As a result, an Integrated control strategy which compensates robust ~ability against perturbations generated under various driving environments is obtained. 002 Robust N e ~ e m - Deeonpll~ and Yaw Stabillz~on of Fonr-Whed Steerlmg Cars J. Aekermann, pp 7-10
007 l S e Speed Control of an Automotive Engine Using a Systematic Fuzzy Logic Methodology G. Vachtsevanm b pp 29-34
Fonr-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for rolmst demupling oflateral and yaw motionis derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rearwheel steering is given, by which the linenrized yaw subsystem gets velocity-independent eigenvalues.
This paper introduces a systematic control design methodology based upon direct intelligent fuzzy logic control. A method is developed to design fuzzy logic controllers for a class of complex nonlinear systems, using an automated rule generation scheme. The refiabifity of the controller performance can be potentially enhanced even in the presence of larse.-grained uncertainty. Specifications such as accuracy and precision can be arbitrarily adjusted as functious of the resolution of the design parameters. lhe systematic fuzzy logic control design procedure is applied to
003 Nonltamr Control of Body Side-Sap Angle for 4WS Vehidm J. Asgarl, D. ltrovat, pp 11-14
the problem of regulating the ideal speed of an automotive engine. Simulation resultsindicate the effectiveness and efficiency of the proposed approach.
Using a simple nonlinear 2D vehicle model, the paper compares a previously developed zero vehicle side-sliprear-steer control with corresponding nonlinear extensions. The comparison is done in terms of lateral velocities and yaw rates for small and large steering maneuvers.
008 Speed Measurement of Vehidm by Radio W a v e . Absolnte M~mmrement of Automobiles K. Kobaymhl, K. Watmabe, pp 35-38
004 Realtlme Estimation of Adhesion Characteristic Between T y r ~ and t o t a l U. Kioneke, pp 15-18
This paper describes a new type of absolute speedometer for automobiles. I t ~ known that the electric field intensity of radio waves in the UHF/VHF range exhibits spatial periodic patterns, clue to the multi-pass fading phenomenon. The authors have verified by laboratory experiment that this pattern can be as the spatial scale for speed measurement by the spatial 8 method. This paper considers how to realize an automobile speedometer based on the above idea. Further, the electric field intensity was measured at various sites under various speeds. It was demonstrated that the method could measure the speeds of automobiles in real situations.
ABS braking control algorithms may be enhanced, if the adhesion chatacter~c between tyres and road can be determined. On the basis of a one-wheel model, the actual adhesion coefficients are e~mated. By m e a ~ of an additional adhesion model, which covers the physical behaviotw of tyre friction upon the road surface, the parameters of the momentarily valid adhesion curve are estimated for each wheel.
009 Structured Black Box Model and Robust Control of the Exhaust G m Redrenlatlon of a Diesel Engine L. Del Re, A. Amstntz, pp 39-42
T. Vesterholm, E. HmdHcks, pip 19-24 In ~ .pa~er the design of a full-order nonlinear observer for a spark lgmuon (SI) engine is treated. When used together with a nonlinear fuel film compensator, this observer makes possible accurate transient and steady-state control of the combustion alrlfnel ratio over the entire operating range of the engine. The nonlinear compensato¢ and observer are discretized using continuous intesrstion algorithms and thus are realized as continuous differential equations. Because the observer is for a very stiff system, it has been necessary to design a special integration algorithm to integrate it in real time.
Exhaust gas recirculation is an effective technique to reduce pollutants from diesel engines. Most actual systems use a feedforward apprmch, which is basically very quick, but also very sensitive to model errors and wear, and requires extensive m odelfing.work. In order to.reduce both semitivity and modelling ettort' a different . a p p r ~ is presented, based on the use of a Zsensor as mensurmg element, a LQG/LTR controller designed using a black-box model. Rmpirical results show that the approach delivers very good results.
899