©2010 vdcl vehicle dynamics and control laboratory seoul...

System ControlSystem Control

Fall 2010

Professor Kyongsu Yi

Fall 2010

o esso yo gsu©2010 VDCL

Vehicle Dynamics and Control LaboratorySeoul National University

Lecture 1: Course Overview

Instructor: Professor Kyongsu YiInstructor: Professor Kyongsu Yi301-1502Tel: 880-1941 Email:kyi@snu.ac.kryhttp://vdcl.snu.ac.kr

Lectures: Mo/We 15:30-16:45 @301-204Lectures: Mo/We 15:30-16:45 @301-204

Office hours: Tu 11:00 to 12:00 or by appointment

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Lecture 1:

Objective: To provide an overview of system control, basic concepts, controller design methods and applications to engineering systems

Mathematical model, analysis and prediction of the dynamics of systems, state

ti d t t bilit li t lequation and system stability, linear control systems, PID control, controller design in the frequency and time domains e eque cy a d e do a s

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Lecture 1: Grading: Homework 15%, Class attendance 10%

Midterm Exam 30%, Final exam 45%

Students absent in a class without instructor’s permission prior to the class would be failedpermission prior to the class would be failed.

Homework: Students will turn in before the end of theclass on the due date. Late homework will not be accepted. All homework assignments are to be completed on your own. You areto be completed on your own. You are allowed to consult with other students during the conceptualization of a problem but all

itt d i k t bwritten and programming work are to be generated by yourself.

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Lecture 1:

Exam:

• 75-minute midterm exam on October 18 (Mo) in class, 15:30-16:4515:30 16:45

• 90+ minute final exam on December 13 (Mo) in class, 15 30 17 0015:30-17:00

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Major Course Contentsj

In this course we will learn how to model and control engineering systems.

Key issues are: Understanding the underlying physics and b i bl d l d d i llbeing able to construct models and design controllers to analyze, predict and control engineering systems.

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References

1. K. Ogata, Modern control engineering, 5th ed., Prentice Hall, 2010.

2. G. Franklin et al., Feedback control of dynamic systems, 6th

ed., Prentice Hall, 2010.ed., Prentice Hall, 2010.

3. S. Shinners, Modern control system theory and design, Wil i t i 1998Wiley interscience, 1998.

4. W. Palm, System dynamics, 2nd ed., McGraw-Hill, 2010., y y , , ,

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Weekly Plan

Week Topics comments

1 Introduction, some examples of control systems

2 Components of a control system, modeling, Laplace transform

3 Transfer functions

4 Stability, step response, Routh's criterion

5 Sensitivity disturbance rejection5 Sensitivity, disturbance rejection

6 Control design examples

7 Root locus, lead and lag compensation

8 Review and Midterm Midterm

9 Introduction to frequency response; interpretation, bode plots

10 Nyquist criterion, applications, gain and phase margins

11 Design specs via loop gain, compensation, design from L

12 Bode gain-phase relation, design case study Design

13 Control system design example Design

14 Control system design example Design

15 Control term project presentation Design example

816 Review and Final Final Exam

Control SystemsControl Systems

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Early historical control of liquid level and flowy q

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

Drebbel’s incubator for hatching chicken eggs Source: Adapted from Mayr 1970Source: Adapted from Mayr, 1970

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

the fly-ball governor Source: British Crown Copyright, Science Museum, Londony g

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

Operating parts of a fly-ball governorp g p y g

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

Component block diagram of an elementary feedback controlfeedback control

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

Automated Highway Systems (AHS), 1997 UC Berkeley PATH

• AHS lanes will have three times the capacity of regular highway• AHS lanes will have three times the capacity of regular highway lanes - Vehicles will travel together in closely-packed “platoons”.

• Dedicated to automated vehicles - regular passenger cars will

Seoul National University

• Dedicated to automated vehicles regular passenger cars will have to be specially instrumented to travel on AHS lanes.

Full-range ACC/CA

Seoul National University16

The infrared ranging system

ContinentalContinental“Car Safety” for tailgater g2009 Volvo XC6020 ft ith20 ft sweep with three infrared beamsbeams The greatest danger for accidents is in normal city driving- 75% of rear end collisions occur between vehicles traveling at less than 20 mph.

Seoul National University17

Component block diagram of automobile cruise controlautomobile cruise control

Copyright ©2010, ©1999, ©1989 by Pearson Education, Inc.All rights reserved.

Feedback Control of Dynamic Systems, Sixth EditionGene F. Franklin • J. David Powell • Abbas Emami-Naeini

ESC

Electronic Stability Control

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Spin axis

ZFZ

V

Direction of Wheel heading

Direction of

X

Y

Slip angle

α

Direction of Wheel travel

Slip ratioλ

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ESC: 4 wheel independent brakingCan you brake hard on the front

wheel, softly on the back left wheel and at the same timewheel and, at the same time,

accelerate the back right wheel to stop the rear of your car losing p y g

control in a bend?

Seoul National University21

VSC (Vehicle Stability Control)

An innovative safety system• Actively supporting the drivery pp g

• Enhanced driving stability in situations with critical vehicle dynamics

• VSC (Vehicle Stability Control) a standardVSC (Vehicle Stability Control) a standard for all the manufactured vehicles by Mercedes Benz since 2002

i i d d b l i l i h ll hi l• it is mandated by legislation that all vehicles should be equipped with ESC in 2012 in USA.

• VSC, an active safety system, canVSC, an active safety system, can significantly increase vehicle safety and projected 5,300 to 9,600 highway deaths annually can be prevented by 100% fitment of VSCVSC.

Seoul National University22

ESP (Electronic Stability Program)

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Unified Chassis Control (UCC)

0

vVWheel

- Vehicle Lateral Motion (Dynamic Equations)

0

Wh

FS=FR (=0)

FS(0)

( ) cos sinx y xr xf f yf fm v v F F F

( ) cos siny x yr yf f xf fm v v F F F FS

a

( )

FR(0)FB(0)

0FR(=1)

( )y x yr yf f xf f

cos sin ...z f yf f r yr f xf fI l F l F l F

dMyaw(0)

y

xl(=0)

Myaw(=0)

( cos )2 xr xf fd F F

l(0)

b

FS FS

Vehicle Stability Control Systems

Steering wheel

Brake Pedal

Wheel

Vehicle-Driver Systems

VehicleHuman Driver Vehicle Driver Reference

VehiclemotionInputs

Throttle o ebrakesteering

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Vehicle-Driver SystemsEnvironments

World model

VehicleHuman Driver Vehicle Driver

Reference

VehiclemotionInputs

Throttle o ebrakesteering

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Vehicle-Driver-Control SystemsEnvironments

World model

VehicleHuman Driver Vehicle Driver

Reference

VehiclemotionInputs

Intelligent Driver iAssistance

Systems

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Total Number of Control Module=76

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END of Course Overview

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