Cruise ControlIntroductionSystem ComponentsSimplified Physical ModelSlide 5Simulink ModelsSlide 7Slide 8Slide 9Slide 10Real WorldSlide 12Slide 13Cruise ControlCruise ControlAndrew HuisjenAndrew HuisjenIntroductionIntroductionInvented by Ralph TeetorInvented by Ralph Teetor–Blind EngineerBlind Engineer–Didn’t like the way his lawyer droveDidn’t like the way his lawyer drove–Got patent in 1945Got patent in 1945Introduced as option on 1958 Introduced as option on 1958 ChryslersChryslersNow installed on nearly 90% of new Now installed on nearly 90% of new cars and truckcars and truckSystem ComponentsSystem ComponentsVehicle Speed SensorVehicle Speed SensorControl ComputerControl ComputerThrottle ActuatorThrottle ActuatorCancellation SwitchesCancellation SwitchesControl ButtonsControl ButtonsSimplified Physical ModelSimplified Physical ModelFriction force vs. Engine force Friction force vs. Engine force –Other forces are present in real world Other forces are present in real world situationssituations–This provides a basis for seeing how the This provides a basis for seeing how the principles workprinciples workAfter Laplace Transform and rearrangement:Force Equation Model:Simplified Physical ModelSimplified Physical ModelbvvmF bmssUsV)()(Simulink ModelsSimulink ModelsOpen Loop Model:Simulink ModelsSimulink ModelsClosed Loop Model:Simulink ModelsSimulink ModelsClosed Loop PID Model:Target ParametersTarget Parameters–No overshootNo overshoot–10-15 seconds to 30 m/s (about 65 mph)10-15 seconds to 30 m/s (about 65 mph)Simulink ModelsSimulink ModelsOnly P and I are needed to do this wellOnly P and I are needed to do this well–Desired response is slowDesired response is slow–Low values of P and I keep instabilities Low values of P and I keep instabilities from being present, so D is not neededfrom being present, so D is not neededP=0.6, I=0.01, D=0P=0.6, I=0.01, D=0Simulink ModelsSimulink ModelsWhat if a faster response is desired?What if a faster response is desired?–5-10 seconds, more sporty response5-10 seconds, more sporty response–P=0.6, I=0.02, D=0P=0.6, I=0.02, D=0Real WorldReal WorldMuch more complicated than my Much more complicated than my modelmodel1990 Dodge Stealth1990 Dodge
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