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1、MultibodySystemDynamics11:365–394,2004.365C2004KluwerAcademicPublishers.PrintedintheNetherlands.AControlStrategyforVehicleTrajectoryTrackingUsingMultibodyModelsPAVELANTOS1andJORGEA.C.AMBROSIO´21FacultyofMechanicalEngineering,DepartmentofMechanics,CzechTechnicalUniversity,Prague,CzechRepublic
2、,E-mail:antos@felber.fsik.cvut.cz;2InstitutodeEngenhariaMecanica,ˆInstitutoSuperiorTecnico,Lisboa,Portugal;E-mail:jorge@dem.ist.utl.pt´(Received:7July2003;acceptedinrevisedform:12April2004)Abstract.Thedevelopmentofavirtualdriverforavehiclerunninginagiventrackconstitutesanimportantapplicationo
3、fvehicledynamics.Forthisworkamultibodybasedmethodologyforthedesignofavehiclevirtualdriverisproposed.Asimplifiedcontrolmodelforthevehicle,whichmakesuseofextendedbicyclemodel,isimplemented.Theoutcomeofthecontrollerbasedonthebicyclemodelisusedtocontroladetailedmultibodymodeloftherealvehicle,inclu
4、dingallsuspensionelementsandtire/roadforces,whichprovidetheobservedmotion.Theonlyvariablesthatthecontrolactsuponarethesteeringwheelangleandvehiclewheels’torques,whichrepresentthetractionandbraking.Thereferencetrajectorythathastobefollowedbythevehicleisdefinedbyusingasplinecurvethatrepresentsit
5、sgeometry.Thisdescriptionofthetrajectorymaybeascomplexasrequiredbyanyparticularapplication.ThecontrolmodelisimplementedintheMATLABenvironmentwhileforthevehiclemultibodymodelastandalonemultibodycomputercodeisused.ThesetwocomputationalenvironmentsareinterfacedusingtheavailableMATLABcommunicatio
6、nfunctions.Thevirtualdrivermodelisfinallydemonstratedforasportsvehiclethatrunsinprescribedtrackandthesimulationresultsarediscussedinfaceofthemethodsused.Keywords:lateralcontrol,bilinearcontrol,trackmodeling,vehicledynamics1.IntroductionAdvancedcontrolmethodsareappliedindifferentkindsofvehicleh
7、andlingprob-lems.Themostpopularautomotiveapplicationsofcontroltheoriesincludetraction,longitudinalandlateralcontrolorengine,transmissionandsuspensioncontrols.Reasonsforusingadvancedcontrolmethodsincludeeconomicalaspectssuchasfueleconomyandhar
