Reduction of Vehicle Vibration and Energy Consumption on Rugged Roads by H∞ Control Laws

• Main Author: 王志偉
• Other Authors: 蕭得聖
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/xsx5f3

碩士 === 國立交通大學 === 電控工程研究所 === 101 === In recent years, climate anomalies inspire the rise of environmental awareness. Therefore, eco-driving has been promoted for years. Eco-driving suggests that drivers should avoid inefficient deceleration or acceleration. But it is hard for an inexperienced driver to take into consideration both eco-driving and driver comfort at the same time. Hence this paper presents a wheel torque control structure for a vehicle on rugged roads to achieve eco-driving and driver comfort simultaneously. The proposed control structure is separated into the upper controller, input linearization and the lower controller. The input linearization allows a linear time invariant upper controller to be used. The upper controller calculates the desired longitudinal acceleration by H∞ control techniques, because controllers are effective in suppressing model uncertainties and enhancing driver comfort in accordance with the ISO standard. The lower controller is used to calculate the wheel torque for tracking the longitudinal acceleration given by the upper controller. To compensate for the model uncertainty between the Carsim tire model and the liner tire model in use, the sliding mode controller is applied to the lower controller. Then, comparisons of the proposed control structure and normal driver reaction on rugged roads are conducted by Carsim.