Vehicle speed control using MRAC PID strategy for gradient disturbance rejection

Controlling vehicle speed is a challenging task,moreover when road gradient disturbance is taken into consideration.In this study,Model Reference Adaptive Control PID (MRAC PID) was proposed to handle the task. The study was conducted via simulation in MATLAB Simulink environment.Vehicle model used...

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Main Author:	Abdul Kadir, Faizul Akmar
Format:	Thesis
Language:	English English
Published:	2018
Subjects:	T Technology (General)
Online Access:	http://eprints.utem.edu.my/id/eprint/23363/1/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf http://eprints.utem.edu.my/id/eprint/23363/2/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf
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id	my-utem-ep.23363
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Tamaldin, Noreffendy
topic	T Technology (General) T Technology (General)
spellingShingle	T Technology (General) T Technology (General) Abdul Kadir, Faizul Akmar Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
description	Controlling vehicle speed is a challenging task,moreover when road gradient disturbance is taken into consideration.In this study,Model Reference Adaptive Control PID (MRAC PID) was proposed to handle the task. The study was conducted via simulation in MATLAB Simulink environment.Vehicle model used was constructed by combining validated Vehicle Longitudinal Model (VLM) and Electronic Throttle Body model (ETB) where VLM act as plant and ETB as the actuator.MRAC PID was utilized as the plant controller whereas Fixed Gain PID (FG PID) controls the actuator.A unique self-induced data was used as the Reference Model for the proposed controller together with MIT Rule as the adjustment mechanism.The performance of MRAC PID was studied by subjecting the vehicle to a set of gradient disturbances ranging from 0° to 25° with 5° increment at a driven speed of 90 kph.The results were compared against Gain Scheduling PID (GS PID) and FG PID control strategies.Simulation results shows that the proposed controller outperform the other controllers in both transient and disturbance region.HILS with Throttle-in-the-Loop was conducted as the means of validating the simulation results.It was observed that the simulations and HILS results shows similar pattern thus conclude that the results are valid.Several HILS data were collected for Repeatability Analysis.The Coefficient of Variance (CV) obtained from the analysis indicates that the HILS has high repeatability and well conducted.For future works,it is recommended that the actual torque curve from dynamometer test is used for the vehicle model and the braking effect is considered as it may offer better result as well as exploring several new actuators for HILS.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Abdul Kadir, Faizul Akmar
author_facet	Abdul Kadir, Faizul Akmar
author_sort	Abdul Kadir, Faizul Akmar
title	Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
title_short	Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
title_full	Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
title_fullStr	Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
title_full_unstemmed	Vehicle speed control using MRAC PID strategy for gradient disturbance rejection
title_sort	vehicle speed control using mrac pid strategy for gradient disturbance rejection
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Mechanical Engineering
publishDate	2018
url	http://eprints.utem.edu.my/id/eprint/23363/1/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf http://eprints.utem.edu.my/id/eprint/23363/2/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf
_version_	1747834043491155968
spelling	my-utem-ep.233632022-06-03T11:11:24Z Vehicle speed control using MRAC PID strategy for gradient disturbance rejection 2018 Abdul Kadir, Faizul Akmar T Technology (General) TL Motor vehicles. Aeronautics. Astronautics Controlling vehicle speed is a challenging task,moreover when road gradient disturbance is taken into consideration.In this study,Model Reference Adaptive Control PID (MRAC PID) was proposed to handle the task. The study was conducted via simulation in MATLAB Simulink environment.Vehicle model used was constructed by combining validated Vehicle Longitudinal Model (VLM) and Electronic Throttle Body model (ETB) where VLM act as plant and ETB as the actuator.MRAC PID was utilized as the plant controller whereas Fixed Gain PID (FG PID) controls the actuator.A unique self-induced data was used as the Reference Model for the proposed controller together with MIT Rule as the adjustment mechanism.The performance of MRAC PID was studied by subjecting the vehicle to a set of gradient disturbances ranging from 0° to 25° with 5° increment at a driven speed of 90 kph.The results were compared against Gain Scheduling PID (GS PID) and FG PID control strategies.Simulation results shows that the proposed controller outperform the other controllers in both transient and disturbance region.HILS with Throttle-in-the-Loop was conducted as the means of validating the simulation results.It was observed that the simulations and HILS results shows similar pattern thus conclude that the results are valid.Several HILS data were collected for Repeatability Analysis.The Coefficient of Variance (CV) obtained from the analysis indicates that the HILS has high repeatability and well conducted.For future works,it is recommended that the actual torque curve from dynamometer test is used for the vehicle model and the braking effect is considered as it may offer better result as well as exploring several new actuators for HILS. 2018 Thesis http://eprints.utem.edu.my/id/eprint/23363/ http://eprints.utem.edu.my/id/eprint/23363/1/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf text en public http://eprints.utem.edu.my/id/eprint/23363/2/Vehicle%20Speed%20Control%20Using%20Mrac%20Pid%20Strategy%20For%20Gradient%20Disturbance%20Rejection.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=113086 phd doctoral Universiti Teknikal Malaysia Melaka Faculty Of Mechanical Engineering Tamaldin, Noreffendy 1. 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