Title :
μ-synthesis robust control for four-wheel steering vehicle with Hardware-in-the-Loop-Simulation system
Author :
YIN, Guodong ; Chen, Nan
Author_Institution :
Sch. of Mech. Eng., Southeast Univ., Nanjing
Abstract :
A hardware-in-the loop simulation (HILS) platform based on Matlab/Simulink/dSPACE is developed, which can realtimely adjust the control parameters and measure the different inputs and response, and can carry through the virtual testing by constructing different vehicle surrounding. The yaw-rate feedback is taken as the basic control logic for 4WS vehicle, which is easy to use. Large online real-time synthesis is required for developing the control system. The platform can also be used for different vehicle ECU developing. With the HILS platform the robustness and other performances for different control arithmetics are compared and the performance of the system is investigated by experiment, the results show that the mu-synthesis robust controller has better general performance.
Keywords :
control system synthesis; robust control; steering systems; four-wheel steering vehicle; hardware-in-the-loop- simulation system; synthesis robust control; vehicle ECU; Control system synthesis; Control systems; Feedback; Mathematical model; Mechanical engineering; Prototypes; Real time systems; Robust control; Uncertainty; Vehicle dynamics; μ-synthesis; Four-wheel steering; Hardware-in-the Loop Simulation; Robust Control;
Conference_Titel :
Vehicle Power and Propulsion Conference, 2008. VPPC '08. IEEE
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-1848-0
Electronic_ISBN :
978-1-4244-1849-7
DOI :
10.1109/VPPC.2008.4677729
