Model Based Optimum Pid Gain Design of Adaptive Front Lighting System
Adaptive Front-Lighting System (AFLS) is a system which assists driver's field of vision by automatically controlling its brightness and illumination angle to adapt various driving conditions such as climate, traffic, road changes and so forth. This paper aims to propose novel model-based PID gain design method to improve the performances of Dynamic Bending Light (DBL) module that change horizontal angle of a system by applying Brent-Dekker algorithm that finds the root of nonlinear function and implementing Nelder-Mead simplex algorithm to the system reduction process. Along with the linear system model-based control theory, motor dynamics were modeled with frequency response. Validation of the prototype resulted in having less than 3 % error from the simulation, where position initialization and the real-time status monitoring function is available due to the closed loop control which enables over 3 times faster response than the conventional open-loop system.
Key wordsClosed-loop control AFLS (Adaptive Front-Lighting System) DBL (Dynamic Bending Light) Intelligent headlight control PID control Digital control MCU Fail-safe Angle control Headlamp MATLAB/Simulink
gear reduction ratio
measured dead zone of motor system, V
input voltage upper limit to motor system, V
dead zone voltage after linearization, V
input voltage upper limit after linearization, V
controller command voltage, V
linearized command voltage, V
natural frequency of motor system, rad/s
damping ratio of motor system
electrical speed constant of motor system, V/rad/s
tangential acceleration of vehicle at C.G.
normal acceleration of vehicle at C.G.
forward velocity of vehicle
radius of curvature of vehicle trajectory
proportional gain of inner speed control loop
integral gain of inner speed control loop
derivative gain of inner speed control loop
proportional gain of outer angle control loop
derivative gain of outer angle control loop
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