Thesis-2004-Brandao.pdf (39.21 MB)
Integrated control of vehicle chassis systems
thesis
posted on 2010-12-20, 10:28 authored by Felipe Tavares de Vilhena BrandaoThis thesis develops a method to integrate several automotive intelligent chassis
systems, such as Anti-lock Brake System, Traction Control System, Direct Yaw
Control and Active Rear Wheel Steering, using evolutionary approaches. The
Integrated Vehicle Control System (IVCS) combines and supervises all controllable
systems in the vehicle, optimising the over all performance and minimising the energy
consumption. The IVCS is able to improve the driving safety avoiding and preventing
critical or unstable situations. Furthermore, if a critical or unstable configuration is
reached, the integrated system should be able to recover a stable condition. The
control structure proposed in this work has as main characteristics the modularity,
extensibility and flexibility, fitting the requirements of a 'plug-and-play' philosophy.
The investigation is divided into four steps: Vehicle Modelling, Soft-Computing,
Behaviour Based Control, and Integrated Vehicle Control System. Several
mathematical vehicle models, which are applied to designing and developing the
control systems, are presented. MATLAB, SIMULINK and ADAMS are used as tools
to implement and simulate those models. A methodology for learning and
optimisation is presented. This methodology is based on Evolutionary Algorithms,
integrating the Genetic Leaming Automata, CARLA and Fuzzy Logic System. The
Behaviour Based Control is introduced as the main approach to designing the
controllers and coordinators. The methodology previously described is used to learn
the behaviours and optimise their performance, and the same technique is applied to
coordinators. Several comparisons with other controllers are also carried out. From
this an Integrated Vehicle Control System is designed, developed and implemented
under a virtual environment. A range of manoeuvres is carried out in order to
investigate its performance under diverse conditions.
The leaming and optimisation method proposed in this thesis shows effective
performance being able to learn all the controller and coordinator structures. The
proposed approach for IVCS also demonstrates good performance, and is well suited
to a 'plug-and-play' philosophy. This research provides a foundation for the
implementation of the designed controllers and coordinators in a prototype vehicle.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Publisher
© F.T.V. BrandaoPublication date
2004Notes
A Doctoral Thesis. Submitted in partial fulfillment of the requirements for the award of Doctor of Philosophy of Loughborough University.EThOS Persistent ID
uk.bl.ethos.416175Language
- en