Title :
Modelling of automobile dynamics for digital control of vehicle platoons
Author :
Ghaya, S. ; Mudgett, D.R.
Author_Institution :
Dept. of Electr. Eng., Pennsylvania State Univ., University Park, PA, USA
fDate :
29 June-1 July 1994
Abstract :
This paper presents a mathematical model of the automobile dynamics of a small vehicle such as a passenger car. Nonlinearities as well as time delay, inherited in the engine dynamics, and the effects of the environment on vehicle motion are included. This model is linearized and a discrete-time system model is developed using the modified z-transform technique. While the primary emphasis of the paper is on system modelling, a simple digital LQ-PI controller is used in simulation to illustrate applicability of the model to the automatic control of speed and spacing in a vehicle platoon, using only local information.
Keywords :
Z transforms; automated highways; digital control; dynamics; intelligent control; linear quadratic control; road vehicles; spatial variables control; two-term control; velocity control; automobile dynamics; digital LQ-PI controller; digital control; discrete-time system model; modified z-transform technique; nonlinearities; passenger car; spacing control; speed control; time delay; vehicle motion; vehicle platoons; Actuators; Delay effects; Digital control; Engines; Fuels; Manifolds; Nonlinear dynamical systems; Transfer functions; Vehicle dynamics; Vehicles;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751683
