Modelling of vehicle longitudinal dynamics for speed control

Idros, Syed and Abdullah, Muhammad and Toha @ Tohara, Siti Fauziah and Md Said, Mohamad Syazarudin (2024) Modelling of vehicle longitudinal dynamics for speed control. Journal of Advanced Research in Applied Mechanics, 123 (1). pp. 56-74. E-ISSN 2289-7895

PDF - Published Version Restricted to Registered users only Download (926kB) | Request a copy

Abstract

Longitudinal dynamics control is one of the essential tasks for an autonomous vehicle, where it deals with speed regulation to ensure smooth and safe operations. To design a good controller, a simple yet reliable mathematical model is needed so that it can be used as a plant and to tune the controller. Although there are many types of mathematical models available in the literature, finding the right one for control application is essential. The model cannot be too complex and can be too simple. Thus, the main objective of this work is to derive a simple yet reliable vehicle longitudinal model so that it can be used as a simulation plant in MATLAB Simulink to test or tune various types of control algorithm's performance. The model consists of three main parts which are the vehicle body dynamics, simplified power train dynamic, and braking dynamic. To validate the reliability of the model, standard urban drive cycles will be used as a reference speed and a hierarchical PID control structure with inverse plant model is used to control the pedal inputs replacing the driver in simulation environment. Results show that the controller managed to track the drive cycle with an acceptable pedal pressing response which is between 40% throttle press and 20% brake press that in line with the normal operation of a vehicle. Although only simulation result is presented, the model can be used as a good starting point for further development and testing of different types of control algorithms for future work.

Item Type:	Article (Journal)
Uncontrolled Keywords:	Vehicle longitudinal dynamics; hierarchical PID controller; system identification; speed control
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1 Motor vehicles
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering
Depositing User:	Muhammad Bin Abdullah
Date Deposited:	04 Sep 2024 09:38
Last Modified:	04 Sep 2024 09:38
URI:	http://irep.iium.edu.my/id/eprint/114247

Actions (login required)

View Item