CRUISE CONTROL SYSTEM OF A

CAR
GROUP MEMBERS:
NAMES: REG #’s
1)Shaheer Ul haq 150454
2)M.Ibrahim 150457
3)Mohsin Kiyani 150473
4)Fawad Ul Hasan 150536
5)Atif Masood 150559

SEMESTER: IV
CLASS: BEME-IV-A-F-15
SECTION: A
Instructor: Dr.Afzal Malik
Date: 9th MAY 2017

AIR UNIVERSITY, ISLAMABAD

 WHAT IS CRUISE CONTROL ?
 Cruise control is a system that automatically controls the speed of a motor
vehicle. The system is a servomechanism that takes over the throttle of the
car to maintain a steady speed as set by the driver. Automatic cruise
control is a feedback control system found in many modern vehicles. The
purpose of the cruise control system is to maintain a constant vehicle speed
despite external disturbances, such as changes in wind or road grade. This
is accomplished by measuring the vehicle speed, comparing it to the
desired or reference speed, and automatically adjusting the throttle
according to a control law.
EXPLANATION:
 We have considered a simple model of the vehicle dynamics. The
vehicle, of mass m, is acted on by a control force, u. The force u
represents the force generated at the road/tire interface. For this
simplified model, we will assume that we can control this force directly
and will neglect the dynamics of the powertrain, tires, etc., that go
into generating the force. The resistive forces, due to rolling resistance
and wind drag, are assumed to vary linearly with the vehicle velocity,
v, and act in the direction opposite the vehicle's motion.
System Parameters:
U, m, b and r are system parameters assumed for this example.
Where,
u=Nominal Control force=500N
m=Vehicle Mass=1000Kg
b=Damping Co-efficient=50 Ns/m
r= Reference Speed=10m/s

System Dynamic Equations:

With these assumptions we are left with a first-order mass-damper system.
Summing forces in the x-direction and applying Newton's 2nd law, we arrive
at the following system equation:

ma=Fapplied –Fopposing

(System Equation)
1000v̇+50v=u
y=v (Output Equation)
State Space Model:
(System Equation)
ẋ = [v] = [-1/20] [v] + [1/1000] u
[y]=[v] (Output Equation)

Transformed Equation/s:
Taking the Laplace transform of the governing differential equation and
assuming zero initial conditions, we get

(ms+b) V(s) = U(s) (System Equation)

(1000s+50) V(s) = U(s)

Transfer Function/s:
Transfer function is defined as the ratio of output to input in s (complex)
domain, so for this system it becomes

P(s) = 1/ (ms+b) is generic transfer function.

P(s) = 1/ (1000s+50) is transfer function without controller
P(s) = 1/ (1000s+51) unity feedback transfer function without controller
Performance specifications:
Design Criterion for this problem that the compensated system should
achieve is that when the engine gives a 500 Newton force, the car will
reach a maximum velocity of 10 m/s (22 mph), reference open-loop step
response section . An automobile should be able to accelerate up to that
speed in less than 5 seconds with in the following limits
Rise time<5s
Overshoot<10%
Steady State Error<2%

Stability:
Stability of the unity feedback transfer function without controller is:
P(s) =1/ (1000s+51)
Poles is/are:
S=-0.051
As the poles are negative so our system is stable
Steady State Errors:
Without controller our transfer function was
P(s) = G(s) = 1 / (1000s+50)
Final value theorem
SS error in s-domain= (limit s→0) s. R(s) / (1+G(s))

For step input:

R(s) = 1/s
SS Error=0.9804
For ramp input:
R(s) = 1/s2;
SS Error=∞
For Parabolic input:
R(s) = 1/s3;
SS Error=∞
Open Loop Poles / Zeros Plot:
Proportional Control:
A proportional controller, Kp, decreases the rise time, which is desirable in this
case
(C = Kp)

Which is practically not possible.

PI Control:
(C = Kp + Ki/s)

An addition of an integral controller to the system eliminates the steady-

state error.
perfect results!
PID Controller:
For this particular example, no implementation of a derivative controller
was needed to obtain the required output. However, we want to see what
happens when this is implemented in our control system. The closed-loop
transfer function for this cruise control system with a PID controller (C = Kp +
Ki/s + Kd*s) is:
SIMULINK MODEL:
For simple cruise control system the Simulink
model is given by
This simulink model is for plant
With PI controller following will be the
Simulink model