NDLI: Tailored Modeling of a Vehicle Power Liftgate Avoiding Explicit Definition of Body-Fixed Reference Frames

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Müller, Andreas Krystof, P. Jankowski
Copyright Year	2015
Abstract	Contemporary vehicle liftgates are operated by a variety of power actuators. The most typical systems are electrically powered with a computer control system executing driver’s command to open and close the liftgate. The control system has to have enough power to open and close the liftgate in specified time over the range of environmental conditions, on inclined roads and so on. It also has to be able to reverse the direction of motion in a short time when an obstacle is found on the way. In order to develop a reliable controller the dynamic properties of the system have to be modeled first. The dynamic model can be used not only to analyze dynamic properties of the system but also to conceive a model based control strategy based on an inverse dynamics model. In this paper a tailored modeling approach is reported that avoids the explicit definition of body-fixed frames. This is advantageous since it allows for easy and failsafe manual modeling and model extension. It builds upon a recently proposed modeling approach that uses body-fixed twists. In this paper the approach is first reformulated in terms of spatial twists as this increases the numerical performance.
Sponsorship	Design Engineering Division Computers and Information in Engineering Division
File Format	PDF
ISBN	9780791857168
DOI	10.1115/DETC2015-47524
Volume Number	Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Conference Proceedings	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2015-08-02
Publisher Place	Boston, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Roads Dynamics (mechanics) Control equipment Control systems Dynamic models Computer control Modeling Vehicles
Content Type	Text
Resource Type	Article

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