This research explores the idea of developing an optimal
path generator that can be used in conjunction with a
feedback steering controller to automate track testing
experiment. This study specifically concentrates on
applying optimization concepts to generate paths that
meet two separate objective functions; minimum time and
maximum tire forces.
A three-degree-of freedom vehicle model is used to
approximate the handling dynamics of the vehicle.
Inputs into the vehicle model are steering angle and
longitudinal force at the tire. These two variables
approximate two requirements that are essential in
operating a vehicle. The Third order Runge-Kutta
integration routine is used to integrate vehicle
dynamics equations of motion. The Optimization Toolbox
of Matlab is used to evaluate the optimization algorithm.
The vehicle is constrained with a series of conditions,
includes, a travel within the boundaries of the track,
traction force limitations at the tire, vehicle speed,
and steering.
The simulation results show that the optimization applied
to vehicle dynamics can be useful in designing an
automated track testing system. The optimal path
generator can be used to develop meaningful test paths
on existing test tracks. This study can be used to
generate an accelerated tire wear test path, perform
parametric study of suspension geometry design using
vehicle dynamics handling test data, and to increase
repeatability in generating track testing results.
Vita removed at author's request. GMc 3/13/2013
