MARA JAPAN INDUSTRIAL INSTITUTE BERANANG,

SELANGOR

REPORT TITLE: CRUISE CONTROL

COURSE: DFV30123/ FEEDBACK CONTROL SYSTEM

PROGRAMME: DKM
SESSION: JULY – DEC 2022

No. Name Student ID

1. ILMAN BIN ABDUL RANI F56-121-0011

2. MUHAMMAD IRFAN NAUFAL B F56-121-0026

3. MUHAMMAD HAFIZZUDIN BIN ASHARI F56-121-0023

LECTURER : NOOR NADIAH BINTI MOHD AZALI

Introduction

Automatic cruise control is an excellent example of a feedback control system found in

many modern vehicles. The purpose of the cruise control system is to maintain a
constant vehicle speed despite external disturbances, such as changes in wind or road
grade. This is accomplished by measuring the vehicle speed, comparing it to the
desired or reference speed, and automatically adjusting the throttle according to a
control law.

Cruise control is a feature that comes in handy when you drive at a constant speed.
It is an electric system that allows you to set your car to a specific speed, letting you
take your foot off the accelerator pedal. So, it can ease foot-fatigue and stress over a
long drive. Another great benefit to using cruise control is that you are going to have
greater fuel efficiency.
Problem Setup

We consider here a simple model of the vehicle dynamics, shown in the free-body
diagram (FBD) above. The vehicle, of mass m, is acted on by a control force, u. The
force u represents the force generated at the road/tire interface. For this simplified
model we will assume that we can control this force directly and will neglect the
dynamics of the powertrain, tires, etc., that go into generating the force. The resistive
forces, due to rolling resistance and wind drag, are assumed to vary linearly with the
vehicle velocity, v, and act in the direction opposite the vehicle's motion.

System Equations

With these assumptions we are left with a first-order mass-damper system. Summing
forces in the x-direction and applying Newton's 2nd law, we arrive at the following
system equation:

Since we are interested in controlling the speed of the vehicle, the output equation is
chosen as follows
System Parameter

For this example, let's assume that the parameters of the system are:

(m) vehicle mass 1000 kg

(b) damping coefficient 50 N.s/m

Design criteria

Design requirements

The next step in modeling this system is to come up with some design criteria. When
the engine gives a 500 Newton force, the car will reach a maximum velocity of 10 m/s
(22 mph). An automobile should be able to accelerate up to that speed in less than 5
seconds. Since this is only a cruise control system, a 10% overshot on the velocity will
not do much damage. A 2% steady-state error is also acceptable for the same reason.

Keeping the above in mind, we have proposed the following design criteria for this
problem:

Rise time < 5 sec

Overshoot < 10%
Steady state error < 2%
Transfer Function

To find the transfer function of the above system, we need to take the Laplace transform
of the modeling equations (1). When finding the transfer function, zero initial conditions
must be assumed. Laplace transforms of the two equations are shown.

Since our output is the velocity, let's substitute V(s) in terms of Y(s)