Modelling and control of a vehicle with tire-road interaction using energy-based techniques

Author

Grossi, F. ; Lhomme, W. ; Zanasi, R. ; Bouscayrol, A.

Author_Institution

DII, Univ. of Modena & Reggio Emilia, Modena, Italy

fYear

2009

fDate

7-10 Sept. 2009

Firstpage

1842

Lastpage

1848

Abstract

In this paper a vehicle with the modelling of its tire-road interaction is described using two different energy-based graphical techniques: power-oriented graphs (POG) and energetic macroscopic representation (EMR). The main features of both approaches are presented and an integration between them is proposed: they can be used together to model different parts of the same system. Using the two techniques the whole vehicle can be represented with either a mathematical or a macroscopic view. From EMR an inversion-based control is given in order to control the vehicle velocity.

Keywords

road vehicles; tyres; velocity control; energetic macroscopic representation; energy-based technique; inversion based control; power-oriented graphs; tire-road interaction; vehicle control; vehicle velocity control; Axles; Bonding; Control systems; Electromechanical systems; Integral equations; Mathematical model; Power system modeling; Vehicles; Velocity control; Wheels; EMR; POG; control; modelling; tire-road interaction;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicle Power and Propulsion Conference, 2009. VPPC '09. IEEE

Conference_Location

Dearborn, MI

Print_ISBN

978-1-4244-2600-3

Electronic_ISBN

978-1-4244-2601-0

Type

conf

DOI

10.1109/VPPC.2009.5289676

Filename

5289676