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Abstract:

Introduction:
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.
Research Methodology:

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.
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:


(System Equation)

1000v̇+50v=u

(Output Equation)

State Space Model:


ẋ=[v]=[-1/20][v]+[1/1000]u
Transformed Equation:
(ms+b)V(s)=u(s)
(1000s+50)V(s)=u(s)
Transfer Function:
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 is stated below:
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=(sR(s))/(1+G(s))
For step input:
R(s)=1/s
SS error in s-domain= (limit s→0) sR(s)/(1+G(s))
SS Error=0.9804

For ramp input:


R(s)=1/s2;
SS error in s-domain= (limit s→0) sR(s)/(1+G(s))
SS Error=∞

For Parabolic input:


R(s)=1/s3;
SS error in s-domain= (limit s→0) sR(s)/(1+G(s))
SS Error=∞

References:
The transfer function of a PID controller is:

The first thing to do in this problem is to find a closed-loop transfer function with a proportional
control (C = Kp) added.

By reducing the unity feedback block diagram, the closed-loop transfer function with a
proportional controller becomes:
Recall from the Introduction: PID Controller Design page, a proportional controller, Kp, decreases
the rise time, which is desirable in this case.

PI Control:

The closed-loop transfer function of this cruise control system with a PI controller (C = Kp + Ki/s)
is:

(4)

Recall from the Introduction: PID Controller Design page, an addition of an integral controller to

the system eliminates the steady-state error. For now, let Kp equal 600 and Ki equal 1 and see
what happens to the response.

PID Controller:

For this particular example, no implementation of a derivative controller was needed to obtain the

required output. However, you might want to see how to work with a PID control for the future

reference. The closed-loop transfer function for this cruise control system with a PID controller (C
= Kp + Ki/s + Kd*s) is:

(5)

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