Real-time Implementation Of Side Slip Angle Estimation And Control Using A Hardware-in-the-loop(HiL) Simulation

In this thesis a new approach in estimating a vehicle’s side slip angle was utilized by using the estimated value as the control quantity for a vehicle dynamics controller.Therefore,a model based control with feedforward that is used in conventional nowadays vehicles was implemented.However,both the estimator as well as the controller had to be adjusted a little bit to be able to reliably control the side slip angle.The controller then was tested in Model-in-the-Loop(Mi L)simulations with a full vehicle model simulation run in Car Sim.The results showed that,in general,the controller works as intended.The side slip angle control can be used to influence the vehicle’s behavior.However,additional extensions have to be made in the future in order to make sure that the controller never malfunctions.Later,the controller was implemented on a Hardware-inthe-Loop(Hi L)system consisting of two PXI controllers from National Instruments as real-time hardware,which are connected via CAN Bus communication system.On one controller the vehicle model is simulated.The other PXI runs the control algorithm.In comparison to the Mi L simulations,the Hi L simulations showed different behavior especially for very dynamic scenarios in which the dead times of the system can cause severe problems.Thereby,it could be proven that for virtual coverage Hi L systems can be a useful tool to provide a realistic environment for the developed control algorithms.