Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay
Sitting in traffic congestion for hours in a posture that requires recurrent actions of manually pressing the pedal and braking excessively can result in fatigue, especially on the driver's leg and back. This fatigue can have long-term implications and adversely affect the driver's health....
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my.iium.irep.1058712024-02-22T01:22:01Z http://irep.iium.edu.my/105871/ Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay Abdullah Hashim, Azrul Azim Ahmad, Salmiah Abdul Ghani, Nor Maniha Nasir, Ahmad Nor Kasruddin TJ212 Control engineering Sitting in traffic congestion for hours in a posture that requires recurrent actions of manually pressing the pedal and braking excessively can result in fatigue, especially on the driver's leg and back. This fatigue can have long-term implications and adversely affect the driver's health. Thus, this paper aims to model and develop a control system that utilizes a linear actuator to replace the leg activities involved in pressing and releasing the brake pedal. This approach, combined with the implementation of a PID controller, offers a novel solution to control the vehicle speed by integration with the linear actuator that focus on low-speed driving condition. The design process begins with creating a 3D model using SolidWorks to visualize the movement of the linear actuator and Pedal subsystem. This model is then connected to Matlab-Simulink, where a PID controller is implemented and integrated into the electrical circuit to control the actuator's movement. Integration with the vehicle dynamic model enables a comprehensive analysis of the system's behavior on the vehicle dynamics. This research compares the trial and error method with the Matlab tuner for implementing the PID controller. The performance of the system will be evaluated based on the steady state error, overshoot, rise time, and settling time. The results demonstrate that the Matlab tuner outperforms trial and error method by achieving a faster response and significantly reducing steady state error during robustness testing. With the integration of the linear actuator, the system is capable of tracking the desired speed and has the potential to replace the leg activities involved in pressing and releasing the brake pedal. For future work, validating the proposed mechanism with a physical prototype of the linear actuator and pedal using hardware-in-the-loop techniques poses a challenge, as hardware constraints may vary with different environments. Association for Scientific Computing Electronics and Engineering (ASCEE) 2023-07-18 Article PeerReviewed application/pdf en http://irep.iium.edu.my/105871/7/105871_Integrated%20modelling%20and%20control%20of%20linear.pdf application/pdf en http://irep.iium.edu.my/105871/13/105871_Integrated%20modelling%20and%20control%20of%20linear_Scopus.pdf Abdullah Hashim, Azrul Azim and Ahmad, Salmiah and Abdul Ghani, Nor Maniha and Nasir, Ahmad Nor Kasruddin (2023) Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay. International Journal of Robotics and Control Systems, 3 (3). pp. 485-500. E-ISSN 2775-2658 https://pubs2.ascee.org/index.php/IJRCS/article/view/1058/pdf http://dx.doi.org/10.31763/ijrcs.v3i3.1058 |
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TJ212 Control engineering Abdullah Hashim, Azrul Azim Ahmad, Salmiah Abdul Ghani, Nor Maniha Nasir, Ahmad Nor Kasruddin Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
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Sitting in traffic congestion for hours in a posture that requires recurrent actions of manually pressing the pedal and braking excessively can result in fatigue, especially on the driver's leg and back. This fatigue can have long-term implications and adversely affect the driver's health. Thus, this paper aims to model and develop a control system that utilizes a linear actuator to replace the leg activities involved in pressing and releasing the brake pedal. This approach, combined with the implementation of a PID controller, offers a novel solution to control the vehicle speed by integration with the linear actuator that focus on low-speed driving condition. The design process begins with creating a 3D model using SolidWorks to visualize the movement of the linear actuator and Pedal subsystem. This model is then connected to Matlab-Simulink, where a PID controller is implemented and integrated into the electrical circuit to control the actuator's movement. Integration with the vehicle dynamic model enables a comprehensive analysis of the system's behavior on the vehicle dynamics. This research compares the trial and error method with the Matlab tuner for implementing the PID controller. The performance of the system will be evaluated based on the steady state error, overshoot, rise time, and settling time. The results demonstrate that the Matlab tuner outperforms trial and error method by achieving a faster response and significantly reducing steady state error during robustness testing. With the integration of the linear actuator, the system is capable of tracking the desired speed and has the potential to replace the leg activities involved in pressing and releasing the brake pedal. For future work, validating the proposed mechanism with a physical prototype of the linear actuator and pedal using hardware-in-the-loop techniques poses a challenge, as hardware constraints may vary with different environments. |
format |
Article |
author |
Abdullah Hashim, Azrul Azim Ahmad, Salmiah Abdul Ghani, Nor Maniha Nasir, Ahmad Nor Kasruddin |
author_facet |
Abdullah Hashim, Azrul Azim Ahmad, Salmiah Abdul Ghani, Nor Maniha Nasir, Ahmad Nor Kasruddin |
author_sort |
Abdullah Hashim, Azrul Azim |
title |
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
title_short |
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
title_full |
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
title_fullStr |
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
title_full_unstemmed |
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
title_sort |
integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay |
publisher |
Association for Scientific Computing Electronics and Engineering (ASCEE) |
publishDate |
2023 |
url |
http://irep.iium.edu.my/105871/7/105871_Integrated%20modelling%20and%20control%20of%20linear.pdf http://irep.iium.edu.my/105871/13/105871_Integrated%20modelling%20and%20control%20of%20linear_Scopus.pdf http://irep.iium.edu.my/105871/ https://pubs2.ascee.org/index.php/IJRCS/article/view/1058/pdf http://dx.doi.org/10.31763/ijrcs.v3i3.1058 |
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1792146402926657536 |