15th ADAMS USER CONFERENCE

ROM, 15. - 16. November 2000

Vehicle Dynamics
Control for a
4 Wheel Steering
Prototype Car

INSTITUT FR
KRAFTFAHRWESEN
AACHEN

Dipl.-Ing. Alfred Pruckner

Dipl.-Ing. Sven Fischer
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Overview

- Control Strategy
- Development Method
- Side Slip Angle Observation
- Side Slip Angle Control
- Outlook
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4 Wheel Steering Control Strategy

Vehicle Side Slip Angle
Steady State Cornering

vehicle side slip angle [ ]

3
2
1

0
-1

dry road

-2

icy road

-3
-4
0

lateral acceleration [m/s]

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4 Wheel Steering Control Strategy

Smaller Wheel Base at low velocity

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4 Wheel Steering Control Strategy

Larger Wheel Base at high velocity

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4 Wheel Steering Control Strategy

Minimize the vehicle side slip angle

Side Slip Angle

estimation

Side Slip Angle

control

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Overview

- Control Strategy
- Development Method
- Side Slip Angle Observation
- Side Slip Angle Control
- Outlook
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Virtual Prototyping

Measurement

Control
information
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Virtual Prototyping

Interface ADAMS und MATRIXx

ADAMS

MATRIXx

Full
Full Vehicle
Vehicle Model
Model

Control
Control algorithm
algorithm

Subroutine

Template

FORTRAN-files
TIRSUB

C-Code

VARSUB

Control
Control algorithm
algorithm

discrete time interval

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Overview

- Control Strategy
- Development Method
- Side Slip Angle Observation
- Side Slip Angle Control
- Outlook
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Side Slip Angle Observation

Linear Bicycle Model

lF

- small angles

ay

- centre of gravity on the street

v
v

c sv + c sh

 m * v
=

lh * c lv * c
sh
sv


Jz

FF

lR

- linear tire characteristics

FR

l v * c sv l h * c sh
c sv

m * v2
* + m * v
2
2

l v * c sv
l v * c sv l h * c sh

J

z
Jz * v

c sh
m*v
l h * c sh
Jz

1+

* v
h

BM
.
BM

x = A x + B u
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Side Slip Angle Observation

Linear Bicycle Model

u

yaw velocity
lateral acceleration

steering angle
B
x

yaw velocity
side slip angle

x = A x + B u
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Double Lane Change Maneuvre

Dry Road
2.5
vehicle side slip angle [ ]

ADAMS

1.5

Bicycle Model

Side Slip Angle

Observation

0.5
0
-0.5
-1
-1.5
-2
4

10

11

12

Dry Road

time [s]

Double Lane Change Maneuvre

ADAMS

Dry Road
30

yaw velocity [/s]

20

Bicycle Model

10
0
-10
-20

ADAMS

-30

Bicycle Model

-40
4

10

11

12

time [s]

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Double Lane Change Maneuvre

Icy Road

vehicle side slip angle [ ]

20
10
0

Side Slip Angle

Observation

-10
-20

ADAMS

-30

Bicycle Model

-40
4

10

11

12

Icy Road

time [s]

Double Lane Change Maneuvre

ADAMS

Icy Road
80
60

Bicycle Model

yaw velocity [/s]

40
20
0
-20
-40

ADAMS

-60

Bicycle Model

-80
4

time [s]

10

11

12
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Side Slip Angle Observation

Linear Observer

x = Ax + Bu

B
x

( )

x = A x + B u + L y y

( )]

~
x = x x = A x + B u A x + B u + L y y
~
x = (A LC) ~
x

det ( I (A LC)) = (1 i )
i=1

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Side Slip Angle Observation

Non-Linear Observer

x = f (x,u)

f
x = f (x,u) + (x,u) (x x)
x

f
~
x = x x = (x,u) (x x) L(x,u) y y
x
 

0
 l11 l12 a

F(x,u) =


 l21 l22

x = f (x , u ) L (x , u )(y y )

x x

1
a y = 1 0

 0 2

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Double Lane Change Maneuvre

Icy Road

vehicle side slip angle [ ]

20
10
0

Side Slip Angle

Observation

-10
-20

ADAMS
Bicycle Model

-30

Luenberger Observer
-40
4

10

11

12

Icy Road

time [s]

Double Lane Change Maneuvre

ADAMS

Icy Road
80
60

Bicycle Model

yaw velocity [/s]

40
20
0

Luenberger
Observer

-20
-40

ADAMS

-60

Bicycle Model
Luenberger Observer

-80
4

10

11

12

time [s]

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Double Lane Change Maneuvre

Dry Road
2

ADAMS

vehicle side slip angle [ ]

1.5

Bicycle Model

Luenberger Observer

0.5

Side Slip Angle

Observation

0
-0.5
-1
-1.5
-2
-2.5
4

10

11

12

time [s]

Double Lane Change Maneuvre

Dry Road
Wet Road

Wet Road

vehicle side slip angle [ ]

15

ADAMS

10
5

Bicycle Model

0
-5

ADAMS
Bicycle Model

-10

Luenberger Observer
-15
4

time [s]

10

11

12

Luenberger
Observer
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Steady State Cornering

Dry Road

vehicle side slip angle [ ]

3
2
1

Side Slip Angle

Observation

0
-1

ADAMS

-2

Bicycle Model

-3

Luenberger Observer
-4
0

lateral acceleration [m/s]

Dry Road
Icy Road

Steady State Cornering

Dry Road

vehicle side slip angle [ ]

ADAMS

ADAMS
1

Bicycle Model

Bicycle Model

Luenberger Observer

-1
-2
-3
-4
0

lateral acceleration [m/s]

Luenberger
Observer
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Overview

- Control Strategy
- Development Method
- Side Slip Angle Observation
- Side Slip Angle Control
- Outlook
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Side Slip Angle Control

Bicycle Model Controller

k =

x = A x + B u

1 + i TD
H
= k _ stat
1 + i T1
V

B
x

Static Transfer Function

0.4

Steering Ratio r / f

0.2

characteristic velocity
A

0.0
-0.2

larger wheel base

-0.4

at high velocity

-0.6
-0.8

smaller wheel base at low velocity

-1.0
0

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lateral acceleration [m/s]

Side Slip Angle Control

State Space Controller
u

x = f (x, u )

f
f
x = x +
u = A x + B u
x
u

+ xwanted

x = f (x, u ) L (x, u )(y y )

xx

Ricatti Equation
L

P* (k + 1) = AT (k ) P0 (k ) A(k ) + Q

KT (k + 1) = P* (k + 1) B(k ) BT (k ) P* (k + 1) B(k) + R

P0 (k + 1) = P* (k + 1) KT (k + 1) BT (k ) P* (k + 1)
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Steady State Cornering

Dry Road
3.0
2.0

side slip angle []

1.0
0.0

Side Slip Angle

Control

-1.0

without 4WS

-2.0

Bicycle Model
-3.0

State Space Controller

-4.0
0

Dry Road

lateral acceleration [m/s]

Without 4WS

Steady State Cornering

Dry Road
6.0

rear steering angle []

5.0
4.0

without 4WS

3.0

Bicycle Model

2.0

State Space Controller

Bicycle Model
Controller

1.0
0.0

State Space
Controller

-1.0
-2.0
-3.0
0

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lateral acceleration [m/s]

Steady State Cornering

Icy Road
3.0
2.0

side slip angle []

1.0
0.0

Side Slip Angle

Control

-1.0

without 4WS

-2.0

Bicycle Model
-3.0

State Space Controller

-4.0
0

Icy Road

lateral acceleration [m/s]

Without 4WS

Steady State Cornering

Icy Road
6.0

rear steering angle []

5.0
4.0

without 4WS

3.0

Bicycle Model

2.0

State Space Controller

Bicycle Model
Controller

1.0
0.0

State Space
Controller

-1.0
-2.0
-3.0
0

4
lateral acceleration [m/s]

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Double Lane Change Maneuvre

dry road, icy road
6
icy road, state space model
icy road, bicycle model

icy road, without 4WS

dry road

y-path [m]

Side Slip Angle

Control

-2

-4

-6
0

10

20

30

40

50

60

70

80

90

100

Icy Road

x-path [m]

Double Lane Change Maneuvre

Without 4WS

dry road, icy road

20
icy road, state space model
icy road, bicycle model

15

icy road, without 4WS

Bicycle Model
Controller

side slip angle []

dry road

10

State Space
Controller

-5

-10
0

10

20

30

40

50

60

70

80

90

100

x-path [m]

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Overview

- Control Strategy
- Development Method
- Side Slip Angle Observation
- Side Slip Angle Control
- Outlook
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Outlook
Virtual Prototyping
Software Rapid Prototyping
Measurement

Control
information

C - Code

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15th ADAMS USER CONFERENCE

ROM, 15. - 16. November 2000

Vehicle Dynamics
Control for a
4 Wheel Steering
Prototype Car

INSTITUT FR
KRAFTFAHRWESEN
AACHEN

Dipl.-Ing. Alfred Pruckner

Dipl.-Ing. Sven Fischer
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