Real-time performance of control allocation for actuator coordination in heavy vehicles
Paper in proceedings, 2009

This paper shows how real-time optimisation for actuator coordination, known as control allocation, can be a viable choice for heavy vehicle motion control systems. For this purpose, a basic stability control system implementing the method is presented. The real-time performance of two different control allocation solvers is evaluated and the use of dynamic weighting is analysed. Results show that sufficient vehicle stability can be achieved when using control allocation for actuator coordination in heavy vehicle stability control. Furthermore, real-time simulations indicate that the optimisation can be performed with the computational capacity of today's standard electronic control units. © 2009 IEEE.

Algorithms

Actuators

Real time systems

Optimization methods

Safety

Road vehicle control

Author

Kristoffer K D Tagesson

Chalmers, Signals and Systems

Peter Sundström

Chalmers, Signals and Systems

Leo Laine

Chalmers, Applied Mechanics

Nicolas Dela

IEEE Intelligent Vehicles Symposium, Proceedings

1931-0587 (ISSN)

685-690

Subject Categories

Vehicle Engineering

DOI

10.1109/IVS.2009.5164359

ISBN

978-1-4244-3503-6