Compensation for low-frequency vibration in lateral control of truck by adaptive feed-forward cancellation

Abstract

The role of truck transportation is becoming increasingly important in the growth of the e-commerce market. Self-driving trucks are being developed for efficient transportation. To realize a safe self-driving system, the control system should compensate for various vibrations while the truck is running. In the yaw direction, the mechanical resonance of the chassis suspension can cause low-frequency vibration. There are two approaches to compensate for the vibration. The first is a vibration control by using the truck suspension system. The method effectively compensates for vibration; implementing additional parts increases the cost. The second is vibration control based on the yaw-rate feedback control system. A notch filter or a lowpass filter decreases the gain at the vibration frequency and is effective in compensating for vibrations. The tracking performance of the reference signal can be degraded by decreasing the gain in the low-frequency range. Therefore, it is required that a solution can compensate for the vibration without the additional parts and no performance degradation. This paper proposes the use of an adaptive feed-forward cancellation (AFC) to compensate for low-frequency vibrations in the yaw-rate feedback control system. The AFC generates a compensation signal based on the difference between the reference signal and the actual yaw rate. The AFC does not reduce the gain near the vibration frequency; therefore, the AFC can achieve low-frequency vibration compensation while maintaining the tracking performance. In addition, the proposed control system does not require additional parts. The effectiveness of the proposed method was verified by experiments using an actual commercial truck.