Title: Frequency domain approach for the design of heavy-duty vehicle speed controllers

Authors: G. Van Der Zalm, R. Huisman, M. Steinbuch, F. Veldpaus

Addresses: Department of Mechanical Engineering, Technische Universiteit Eindhoven, P.O. Box 513, 5600 MB, Eindhoven, The Netherlands. ' DAF Trucks NV, Product Development, Vehicle Control Group, P.O. Box 90065, 5600 PT, Eindhoven, The Netherlands. ' Department of Mechanical Engineering, Technische Universiteit Eindhoven, P.O. Box 513, 5600 MB, Eindhoven, The Netherlands. ' Department of Mechanical Engineering, Technische Universiteit Eindhoven, P.O. Box 513, 5600 MB, Eindhoven, The Netherlands

Abstract: The large parameter variations in heavy-duty trucks make it difficult to find appropriate settings for fixed structure speed controllers. Satisfying the design specifications with experience based trial-and error control design methods is very time-consuming. This paper discusses the modelling and model verification of a vehicular driveline and the model based, systematic design and tuning of speed controllers, using frequency domain techniques. Experiments with a real truck show that the performance and robustness of the closed loop system is within the specifications. The focus is on the cruise control, but the approach is also applicable to other speed controllers.

Keywords: closed-loop identification; speed control; control design; PI controllers; frequency domain; heavy vehicles; heavy-duty trucks; cruise control.

DOI: 10.1504/IJHVS.2008.017988

International Journal of Heavy Vehicle Systems, 2008 Vol.15 No.1, pp.107 - 123

Published online: 25 Apr 2008 *

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