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Theoretical Control Properties Of Multiform Models For The Study Of Automotive Vehicles Motion
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SAE Brasil
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English
Abstract
This paper performs extensive analysis of complete manoeuvres of nonlinear vehicle model developed using Multibody Systems Techniques (MBS). This analysis is aimed at the study of integrated vehicle motion control, the paper discusses the theoretical properties of resulting linearised models which embraces all aspects of vehicle motion (performance, handling and ride). It also addresses the implication of this modelling technique to integrated control systems design. In this sense, it provides an effective link between MBS vehicle models and Control Theory.
For this purposes it discusses the influence of the formulation and topology adopted in the MBS model on the resulting State space and Transfer function matrix representations of the system. This discussion includes the effects of the latter on the system structure such as eigenvalues, eigenvectors, and the elements of the A, B, C and D matrices. Also discussed are poles and zeros frequency response and the principal gains. Resulting system properties for analysis, control design and numerical stability purposes such as conditioning, controllability, observability and the respective gramians, etc.; will also be addressed. Based on these analysis, the application of System's Theory will be carried out in order to obtain an adequate realisation of the system for control design objectives. In this case, topics discussed include balancing, decomposition, model order reduction, etc. In order to check the validity of the use of linear approximations for control studies, the changes in system's structure with some parameter variation is studied and results of the linear simulation are compared with nonlinear ones.
While developing from an earlier work by the same authors [1], which describes the use of SD/FAST [6] and ACSL [7] as a MBS simulation environment, the present paper brings in the use of the computer package MATLAB [9] as a powerful tool for the analysis of the resulting linear system representation, as well as a development facility for linear control system design. The work as a whole, also emphasises the importance of package integration, a key concept, in the design stages of the production process. The possibility of having very powerful tools in their own areas efficiently integrating is a very desireable and atractive one.
Authors
Topic
Citation
Costa, A. and Jones, R., "Theoretical Control Properties Of Multiform Models For The Study Of Automotive Vehicles Motion," SAE Technical Paper 931614, 1993, https://doi.org/10.4271/931614.Also In
References
- Costa A.N. Jones R.P. Automotive Vehicle Chassis Simulation for Motion Control Studies using MBS Modelling Techniques SAE paper 921443
- Costa A.N. Application of MBS Techniques to Automotive Vehicle Chassis Simulation for Motion Control Studies PhD. Thesis University of Warwick UK. 1992
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- Vehicle Dynamics Terminology SAE J670e SAE 1978
- SD/FAST User's Manual Moutain View USA. 1991
- ACSL - Advanced Continuous Simulation Language Reference Manual. Mitchell and Gautier Associates 1987
- Schiehlen W. Multibody Systems Handbook Springer-Verlag Berlin 1990
- The MathWorks, Inc. PRO-MATLAB User's Guide 1987
- Maciejowski J.M. Multivariable Feedback Design Addison Wesley Publishing Co. 1990
- IAVSD Seminar on the Applicability of Multibody Methods and Computer Codes to Problems in Vehicle Sylem Dynamics Herbertov, Czechoslovakia 1990
- Lugner P. Horizontal Motion of Automobiles: Theoretical and Practical Investigations 1982
- Kane T.R. Levinson D. Dynamics: Theory and Application. McGraw-Hill NY 1985