Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system

Controller Area Network (CAN) is a popular network commonly used in the automotive industry which is an advanced serial bus system designed for real-time control system. This thesis addresses the modelling and controller design for Steer-by-Wire (SbW) system under the influence of a network controll...

Full description

Saved in:

Bibliographic Details
Main Author:	Zainal, Mohd. Sazlan
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/78776/1/MohdSazlanZainalMFKE2015.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utm-ep.78776
record_format	uketd_dc
spelling	my-utm-ep.787762018-09-17T04:12:38Z Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system 2015-12 Zainal, Mohd. Sazlan TK Electrical engineering. Electronics Nuclear engineering Controller Area Network (CAN) is a popular network commonly used in the automotive industry which is an advanced serial bus system designed for real-time control system. This thesis addresses the modelling and controller design for Steer-by-Wire (SbW) system under the influence of a network controlled system. The analysis of the control performance of the SbW system under several CAN configuration setting is discussed in detail. The mathematical model of the SbW system is adopted from previous research works using both steering rack dynamic and the vehicle system dynamic. Proportional-Integral-Derivative (PID) controller that can compensate delay is designed to achieve the desired control performance of the SbW system. The analysis of the control performance is solely based on the simulation conducted in the Matlab/Simulink software environment with Truetime toolbox to simulate the real time performance of the SbW system. The simulation is performed based on nine different cases in the event of several difference in the CAN network properties such as the network speed, sampling periods, scheduling techniques, rate of data losses, interruption by higher priority data and clock drift to evaluate the control performance of the SbW system. The result is found that the SbW system control performance deteriorates by the selection of low network speed, sensor’s sampling periods and the rate of data losses. 2015-12 Thesis http://eprints.utm.my/id/eprint/78776/ http://eprints.utm.my/id/eprint/78776/1/MohdSazlanZainalMFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:106112 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Zainal, Mohd. Sazlan Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
description	Controller Area Network (CAN) is a popular network commonly used in the automotive industry which is an advanced serial bus system designed for real-time control system. This thesis addresses the modelling and controller design for Steer-by-Wire (SbW) system under the influence of a network controlled system. The analysis of the control performance of the SbW system under several CAN configuration setting is discussed in detail. The mathematical model of the SbW system is adopted from previous research works using both steering rack dynamic and the vehicle system dynamic. Proportional-Integral-Derivative (PID) controller that can compensate delay is designed to achieve the desired control performance of the SbW system. The analysis of the control performance is solely based on the simulation conducted in the Matlab/Simulink software environment with Truetime toolbox to simulate the real time performance of the SbW system. The simulation is performed based on nine different cases in the event of several difference in the CAN network properties such as the network speed, sampling periods, scheduling techniques, rate of data losses, interruption by higher priority data and clock drift to evaluate the control performance of the SbW system. The result is found that the SbW system control performance deteriorates by the selection of low network speed, sensor’s sampling periods and the rate of data losses.
format	Thesis
qualification_level	Master's degree
author	Zainal, Mohd. Sazlan
author_facet	Zainal, Mohd. Sazlan
author_sort	Zainal, Mohd. Sazlan
title	Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
title_short	Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
title_full	Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
title_fullStr	Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
title_full_unstemmed	Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
title_sort	proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/78776/1/MohdSazlanZainalMFKE2015.pdf
_version_	1747818068508147712

Proportional-integral-derivative control algorithm with delay compensation for steer-by-wire under network controlled system

Similar Items