Development of a robotic driver for vehicle dynamometer testing

Hazim Namik, Tokushu Inamura, Karl Stol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

This paper presents the development of a robotic driver for the automation of dynamometer based vehicle testing. The aim is to successfully follow industry standard test cycles used for emissions testing and produce repeatable results. Success will be measured by not exceeding the limits set for human drivers for a successful test. The design of this robotic driver is unique; it uses a single linear motion to actuate the brake and throttle pedals controlled by two cascaded PID controllers (vehicle speed and pedal actuator position). A full SIMULINK model has been created and used for simultaion and rapid control prototyping using dSPACE. The system has been developed and tested from simulation through to actual dynamometer testing. Test results show that by time-shifting the drive cycle 2 seconds forward, the robotic driver successfully adhered to the ADR 37/01 standard, and produced repeatable results. Further development is needed to improve the performance and overcome current system limitations such as motor saturation and accelerator pedal stick-slip.

Original languageEnglish
Title of host publicationProceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 Australasian Conference on Robotics and Automation, ACRA 2006 - Auckland, New Zealand
Duration: Dec 6 2006Dec 8 2006

Publication series

NameProceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006

Other

Other2006 Australasian Conference on Robotics and Automation, ACRA 2006
CountryNew Zealand
CityAuckland
Period12/6/0612/8/06

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Namik, H., Inamura, T., & Stol, K. (2006). Development of a robotic driver for vehicle dynamometer testing. In Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006 (Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006).