Advanced Automotive

ULFG-II-
Dr. Ahmad Samrout
 System/Control engineering/
Model Based Design
Requirements Product/System

System development and testing

Verification and validation

Sub-System/ components development and

testing
 Agile method

Test

Integration Development

Definition Definition
Backlog Sprint Delivery
of ready of done
 Why model based design
• Improve productivity and quality
• Gain better understanding
• Less error
• Less sensitive to changes in technology
• More cost effective
• Up to date documentation
• Capture domain knowledge

• But ! You have to understand the limitations of

your model
 Feedback principales
• Vehicles are becoming more and more automated,
creating an increasing need for better control.
• Control of dynamic systems via feedback
• Control: Cause -----> Effect
Input System Output

Acc pedal Velocity

Fuel injec Torque

• Dynamic system: A system whose behavior
changes with time + the output depends not only
on the current input signal but also on the
previous input signal.

Act Measure
Controller Plant/System

• Feedback:

• Disadvantages: When we close the loop, we

change the dynamic of the system. So we can
make an unstable system. Also the use of sensors
introduces measurement noise.
 Example: Cruise control
• Specifications: Keep the vehicle’s velocity constant.
• Control signal [u]: Throttle angle.
• Disturbance d: Road sloop
• Output [y]: Velocity [v]
• The relationship between u & v can be put as:
dv/dt = -a/m * v + b/m * u – gsinα
Example: Cruise control
Open loop Cruise control
Step Response for cruise control

Matlab
step(sys)
 Simulink for open
loop Cruise control

Fig1. Results for a flat road using open loop

control

Fig2. Results for an uphill road using open

loop control
Cruise control for closed loop system

PID controller
Present

Past

Future
(responds
to quick
changes)
Closed
loop
Cruise
control
Results for Closed loop Cruise control using
P-controller
Results for Closed loop Cruise control
using P-controller and I-controller
 Results for Closed loop Cruise control
using P-controller and I-controller

Fig1. Results for a flat road using closed

loop control and an integral controller

Fig2. Results for an uphill road using closed

loop control and an integral controller