| Popis: |
The study of lateral dynamics is of great importance for the vehicle behavior analysis during turning maneuvers, and it is fundamental to stability or path control systems used in autonomous vehicles. This case study focuses on the identification of a continuous-time linear model of a 6x6 military vehicle for different speeds. Field data of the vehicle during a North Atlantic Treaty Organization (NATO) double lane change maneuvers were used, and transfer functions between the yaw rate (output) and the steering wheel angle (input) were identified using the CONTSID toolbox. Based on the estimated models, the results show a good agreement with the experimental measurements and it is possible to analyze the system’s poles and zeros behavior, as well as the frequency response of the system with speed variation. As conclusions, an increase in the vehicle’s speed implies a higher magnitude gain, and the poles of the system present the tendency to move from an underdamped to an overdamped system. |
