Self-Tuning Speed Tracking Controller for a Portable Brake and Throttle Robot

Paper #:
  • 2013-01-1434

Published:
  • 2013-04-08
DOI:
  • 10.4271/2013-01-1434
Citation:
Mikesell, D. and Sidhu, A., "Self-Tuning Speed Tracking Controller for a Portable Brake and Throttle Robot," SAE Int. J. Passeng. Cars - Mech. Syst. 6(1):462-469, 2013, doi:10.4271/2013-01-1434.
Pages:
8
Abstract:
Vehicle testing often requires accurate speed control, whether maintaining a constant speed or following a dynamic speed profile. A portable brake and throttle robot designed for this task must quickly and automatically adapt its control to each test vehicle's mass and powertrain characteristics in order for the controller to perform well on a wide variety of platforms.This application presents two major challenges. First, each new vehicle installation requires rapid retuning of the controller. Manual tuning can be very time-consuming. Second, the “plant” is very nonlinear and asymmetric. Different actuators are employed for acceleration (engine) and braking (road loads and friction brakes).After a broad survey of control strategies and their suitability for this particular application, neurofuzzy techniques were among the most promising. Neurofuzzy networks can not only approximate nonlinear functions accurately, but the fuzzy rule-consequent weights can be readily updated in real time.A neurofuzzy controller was designed for the automotive speed tracking problem. Experimental testing was conducted and results were presented and analyzed.
Access
Now
SAE MOBILUS Subscriber? You may already have access.
Buy
Select
Price
List
Download
$27.00
Mail
$27.00
Members save up to 40% off list price.
Share
HTML for Linking to Page
Page URL

Related Items

Training / Education
2013-04-09
Article
2016-09-06
Technical Paper / Journal Article
2011-04-12
Training / Education
2013-04-09
Training / Education
2013-04-09
Article
2016-08-24