Selected Tests of a Control System for an Articulated Vehicle with Innovative Articulation
| Autor: | Mateusz Szumilas, Sergiusz Łuczak, Błażej Kabziński |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
020301 aerospace & aeronautics
Computer science 02 engineering and technology Steering wheel 01 natural sciences Stability (probability) 010305 fluids & plasmas Acceleration 0203 mechanical engineering Control theory Obstacle Control system 0103 physical sciences Articulated vehicle Slip angle Articulation (phonetics) |
| Zdroj: | Advances in Intelligent Systems and Computing ISBN: 9783030299927 |
| DOI: | 10.1007/978-3-030-29993-4_9 |
| Popis: | An algorithm for controlling the hydraulic damping of an innovative articulation for an articulated vehicle was tested with respect to the stability of the vehicle movement while avoiding a road obstacle at 50 km/h by a double change of the lane. Related maneuvers were simulated using LabVIEW software. Two testing methods were employed - with the steering wheel motion being dependent or independent on delays introduced into the control loop. Simulation results according to the first method proved that the mean absolute slip angle of all the tires and the mean absolute lateral acceleration of the rear car centre of mass did not exceed, respectively, 0.65° and 0.55 m/s2, whereas for the second method these values were lower than 0.85° and 0.75 m/s2. In both methods the results depended on the delay in signal transmission. It was concluded that the control loop delay should be kept lower than 0.1 s. Moreover, this delay should be monitored and used as an input to the control algorithm, as in certain conditions deactivating the articulation damping in presence of excessive delays can be confusing to the driver. |
| Databáze: | OpenAIRE |
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