The Illinois Roadway Simulator: A mechatronic testbed for vehicle dynamics and control

被引:37
作者
Brennan, S [1 ]
Alleyne, A [1 ]
机构
[1] Univ Illinois, Dept Mech & Ind Engn, Urbana, IL 61801 USA
基金
美国国家科学基金会;
关键词
dynamic similitude; mechatronics; road vehicle control; scaling;
D O I
10.1109/3516.891046
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The Illinois Roadway Simulator (IRS) is a novel, mechatronic, scaled testbed used to study vehicle dynamics and controls. An overview of this system is presented, and individual hardware issues are addressed. System modeling results on the vehicles and hardware are introduced, and comparisons of the resulting dynamics are made with full-sized vehicles. To address the realism factor of using scaled vehicles, comparisons are made between dynamic responses of full-scale and IRS-scale vehicles. The method of dynamic similitude is a key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles to a first approximation. The IRS is then used in a vehicle control case study to demonstrate the potential benefits of scaled investigations. The idea of driver-assisted control is formulated as a yaw-rate model-following problem based on the representation of the driver as a known disturbance model. The controller is designed and implemented to show that the vehicle's dynamics can be changed to match a prescribed reference model.
引用
收藏
页码:349 / 359
页数:11
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