Vehicle Speed Control by a Robotic Driver Considering Vehicle Dynamics for Continuously Variable Transmissions
Naoto Mizutani*, Hirokazu Matsui*, Ken’ichi Yano*, and Toshimichi Takahashi**
1577 Kurimamachiya-cho, Tsu City, Mie 514-8507, Japan
ThinkPark Tower, 2-1-1 Osaki, Shinagawa-ku, Tokyo 141-6029, Japan
Robotic drivers are used in vehicle performance tests, such as those for testing fuel consumption and exhaust gas. For driving test cycles, a test vehicle is driven on a dynamometer with a defined set of time and speed. These cycles have a tolerance band. Thus, to accurately compare the fuel consumption of various vehicles, it is necessary to run within the tolerance band and approach the target speed as close as possible by better control performance. However, because a vehicle has complex dynamic characteristics, it is difficult to improve the control performance especially in CVTs (continuously variable transmissions). In this paper, we improved the speed control performance through the derivation of a target speed waveform and design of a control system by considering the dynamic characteristics of CVT. First, we derived the target speed wave form that can remove the deviation from the tolerance band. Thereafter, we designed a control system to improve the speed control performance. The speed control performance of the proposed control systems were confirmed through vehicle running tests with the robotic driver.
-  D. Crolla, “Encyclopedia of Automotive Engineering,” Vol.3, Wiley, pp. 1429-1439, 2015.
-  D. Crolla, “Encyclopedia of Automotive Engineering,” Vol.3, Wiley, pp. 1873-1891, 2015.
-  N. Hirata, N. Mizutani, H. Matsui, K. Yano, and T. Takahashi, “Fuel Consumption in a Driving Test Cycle by Robotic Driver Considering System Dynamics,” Proc. of IEEE ICRA, pp. 3374-3379, 2015.
-  N. Mizutani, H. Matsui, K. Yano, and T. Takahashi, “Vehicle Speed Control by a Robotic Driver Considering Time Delay and Parametric Variations,” 55th IEEE Conf. on Decision and Control, pp. 2437-2442, 2016.
-  H. Namil, T. Inamura, and K. Stol, “Development of a Robotic Driver for Vehicle Dynamometer Testing,” Proc. of the 2006 Australasian Conf. on Robotics & Automation, 2006.
-  G. Chen, W. Zhang, and X. Zhang, “Speed Tracking Control of a Vehicle Robot Driver System Using Multiple Sliding Surface Control Schemes,” InTech Int. J. of Advanced Robotic Systems 2013, Vol.10, 90, 2013.
-  K. Mori, K. Ninomiya, Y. Morita, H. Ukai, M. Koumoto, K. Takatori, and Y. Mizuno, “Driver Model for Accelerator and Brake Pedal Operation Using Reinforcement Learning Proposal of Reward Function for Velocity Tracking and Human Pedal Operation,” the 13th SICE Conf. on Control Systems, SY0002/13/0000-0236, 2013 (in Japanese).
-  S. Sailer, M. Buchholz, and K. Dietmayer, “Flatness Based Velocity Tracking Control of a Vehicle on a Roller Dynamometer Using a Robotic Driver,” IEEE Conf. on CDC-ECC, pp. 7962-7967, 2011.
-  S. Sailer, M. Buchholz, and K. Dietmayer, “Adaptive Model-Based Velocity Control by a Robotic Driver for Vehicles on Roller Dynamometers,” American Control Conf. (ACC), 2013.
-  S. Sailer, M. Buchholz, and K. Dietmayer, “Driveaway and Braking Control of Vehicles with Manual Transmission Using a Robotic Driver,” IEEE Int. Conf. on Control Applications (CCA), 2013.
-  M. Kanke, “Vehicle Speed Control by Drive Robot System in Emission Test,” Proc. of the Fuzzy System Symposium, TA4-4, 2008 (in Japanese).
-  T. Ohtsuka, “Guide of Nonlinear Optimal Control,” CORONA Publishing Co., Ltd., 2011 (in Japanese).
-  N. Abe and K. Yamanaka, “Smith Predictor Control and Internal Model Control – A Tutorial,” SICE 2003 Annual Conf., Vol.2, pp. 1383-1387, 2003.