PLATAFORMAS PARA CONTROLADOR ACTIVO LINEAL APLICADO A LA DIRECCIÓN ASISTIDA AUTOMOTRIZ (PLATFORMS FOR LINEAR ACTIVE CONTROLLER APPLIED TO THE AUTOMOTIVE ASSISTED STEERING)

Sergio Sandoval Pérez, Gamaliel Rodríguez González, Luis Alfonso García Mendoza, Jaime Jalomo Cuevas

Resumen


En este artículo se muestra un problema clásico en la teoría de control, el cual es el diseño de una ley de retroalimentación, teniendo el propósito de que la salida de cualquier sistema siga asintóticamente una señal de referencia. En este trabajo, se pretende que la velocidad lateral siga a una maniobra del conductor, pero en sentido contrario. Se propone que el vehículo se encuentra realizando pruebas de manejo conocidas por norma internacional ISO 7401, por ende el problema de la teoría de regulación lineal vía retroalimentación de estados por medio de una función de Lyapunov es la solución idónea a nuestro problema ya que se supone la medición de la velocidad angular de viraje. Los actuadores que integraremos en este artículo serán los frenos () y el sistema frontal activo (AFS, por sus siglas en inglés), por medio de la simulación de Matlab-Simulink-CarSim y una plataforma propia.

Palabra(s) clave: Retroalimentación de estados, velocidad lateral, velocidad angular de viraje, CarSim.

 

Abstract

This article shows a classic problem of control theory, which is the design of a feedback law, it has the purpose that the output of any system follows a reference signal asymptotically. In this paper we aim that the lateral velocity follows a drivers´s maneuver, but in the opposite direction. It is proposed that the vehicle performs driving test knowed by the ISO 7401 international standard, thus, to solve this problem we are going to use the feedback-state lineal theory by means of a Lyapunov function, because it is supposed to measure the yaw velocity. The actuators that we will be integrating in this paper, will be the brakes () and Front Active System (AFS), through simulations in Matlab- Simulink-CarSim and own platform.

Keywords: Feedback state, lateral velocity, yaw velocity, CarSim.

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Referencias


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