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Theses

Contrôle Global de Châssis appliqué à la sécurité active des véhicules de distribution

Abstract : The active safety systems for the delivery heavy vehicle are used to reduce the hazardous situations and assist the driver in such situations to avoid accidents. This study is focused on the prevention of accidents associated with the loss of control by the driver. Some of these accidents can be prevented by the use of active safety systems such as ESP, which solves the problems of the roll and yaw instability of the single unit heavy vehicles. We study the possibility of improving the performances of such systems by combining the braking actions to actions of other actuators available on the vehicle, such as active front and rear steering systems. The heavy vehicle considered in this study is over-actuated, since the number of actuators exceeds the number of degrees of freedom controlled by these actuators. We apply two control strategies to the over-actuated vehicle control: the first one is the hierarchical control also known as control structure with control allocation, the second one is the model predictive control. In this work, we adapt these two approaches to the single unit heavy vehicle control. The control development passes through vehicle dynamics modeling, models validation and stability analysis. Simulation results of the ISO features, representing real hazardous situations, performed on the high-fidelity model, demonstrate the effectiveness of the developed control and allow evaluating the gain of using the combined actions of actuators in comparison with the classical scheme. The obtained results also allow to judge on two implemented control strategies.
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  • HAL Id : tel-00711046, version 1

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Yerlan Akhmetov. Contrôle Global de Châssis appliqué à la sécurité active des véhicules de distribution. Autre. INSA de Lyon, 2011. Français. ⟨NNT : 2011ISAL0138⟩. ⟨tel-00711046⟩

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