A robust rear wheel control system was developed by putting a control law into a general purpose 16-bit microcomputer applied. Modern control theory was applied. The control theory was formulated so that it can be devised in the microcomputer. The control logic was simplified and modified thus that the calculation can be executed on an integer basis, in order to cope with such restrictions on the performance of microcomputers as insufficient ROM/RAM capacities and lower calculation execution rate. The simplification of the control logic was limited within a range where the controllability may not be deteriorated in practical use. During the calculation on an integer basis, floating point software and integer-based calculation software were compared successively to prevent canceling and overflow and thus to maintain the controllability. By taking the measures described above the high-level control law was put into a general-purpose 16-bit microcomputer.
Development of software for ARS (Active Rear Steering) system applying modern control method
Entwicklung einer Regelungssoftware für die aktive Regelung einer Hinterachslenkung
1998
9 Seiten, 28 Bilder, 2 Tabellen, 8 Quellen
Conference paper
English
Development of software for ARS ( active rear steering ) system applying modern control method
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