Desenvolvimento de um sistema de controle de cruzeiro para um carro com motor a combustão interna

Abstract

This work presents the development of a Cruise Control (CC) system for a vehicle equipped with an Internal Combustion Engine (ICE). The system modeling considers three main points: i) the longitudinal dynamics of the vehicle, including disturbances caused by

road inclination; ii) the ICE; and iii) the transmission. Based on the nonlinear and non- autonomous model, an auxiliary feedback linearization control law was first synthesized.

Subsequently, a Proportional-Integral (PI) controller was tuned using two methodologies: i) the Root Locus Method (RLM) and ii) the Twiddle algorithm. Furthermore, a stability analysis based on Lyapunov theory ensures that the closed-loop control system is stable. Finally, computational simulations based on Simulink®/MATLAB®, for different reference speeds and masses, demonstrate the effectiveness and robustness of the synthesized control, guaranteeing the desired performance for the CC system. The PI controller tuning obtained through the Twiddle algorithm proved, in this case, to be more suitable than that obtained through the RLM.