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      • Dept. of Mechanical Engineering - Master's degree
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      •   BUIR Home
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      • Bilkent Theses
      • Theses - Department of Mechanical Engineering
      • Dept. of Mechanical Engineering - Master's degree
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      Development of control oriented vehicle models and their application to adaptive control allocation problems

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      Embargo Lift Date: 2019-04-15
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      Author
      Temiz, Ozan
      Advisor
      Çakmakcı, Melih
      Date
      2018-10
      Publisher
      Bilkent University
      Language
      en_US
      Type
      Thesis
      Item Usage Stats
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      73
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      Abstract
      Emerging vehicle control systems have increased the need for valid vehicle models. In this study, two controller oriented vehicle models are developed and linearized for easier controller design. These models are validated by using an advanced vehicle simulation commercial suite. Then by using these models, an adaptive, fault-tolerant control allocation method which simultaneously commands all traction and steering related actuators is developed. The proposed control scheme consists of a high level controller that creates a virtual control input vector and a low level control allocator that distributes the virtual control effort among redundant actuators. Virtual control input consists of desired forces and moments to ensure stability while following a given reference. Based on this virtual control input vector, the allocation module determines actuator inputs. Performance of the proposed system is evaluated via an object avoidance maneuver in various scenarios such as different velocities and effectiveness loss at actuators. Results show that the proposed approach can follow the references despite the loss of actuator effectiveness in the driving cycle.
      Keywords
      Vehicle Modeling
      Control-Oriented
      Adaptive Control Allocation
      Permalink
      http://hdl.handle.net/11693/48097
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      • Dept. of Mechanical Engineering - Master's degree 66
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