Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
FRACTIONAL PIλ (PDμ) CONTROLLER DESIGN FOR A CMG STABILIZING SYSTEM FOR TWO-WHEELED VEHICLES
Submission Author:
Paulo Roberto Oliveira Martins , AM
Co-Authors:
Gustavo Cunha da Silva Neto, Danilo de Santana Chui, Junout Martins Louzada Neto, Paulo Roberto Oliveira Martins
Presenter: Paulo Roberto Oliveira Martins
doi://10.26678/ABCM.COBEM2017.COB17-2772
Abstract
Road traffic injuries are one of the leading causes of death in the world. The most frequent victims are pedestrians, cyclists and motorcyclists. It’s worthy of attention design safer vehicles as a mitigating measure against these fatalities. Besides, stabilize two-wheeled vehicles is a challenging task, and it has been drawing the attention of the control research community for years. This work aims to concatenate the study of a fractional control and a stabilizing system. It’s proposed to adopt a control moment gyroscope (CMG) stabilizing system with the purpose of balancing the vehicle in the upright position, even if it undergoes side impact forces. The model of the actuator was obtained using the Lagrangian mechanics, and then it was linearized around the balance position. It was used a generalization of the proportional-integral-derivative controller (PID) associated with the fractional calculus theory to design a PIλ (PDμ) type controller for the stabilizing system’s control. Two different systems were simulated to demonstrate the actuator’s model applicability, one with bicycle parameters and another with motorcycle ones. The performance of classical and fractional PID were compared and the robustness of the PIλ (PDμ) controller was evaluated for gain variations, that is, how the step response velocity of the stabilizing system changes, given a variation in the angular setpoint, maintaining the constant angular overshoot tolerance condition. The stabilizing system proposed has shown to be a promising technological solution for design safer vehicles.
Keywords
Two-wheeled vehicles stabilization, Lagrangian modelling, Fractional PID Controllers, Fractional-Order Control, PID controller
