Hello everyone,
I have a cascade control to control the distance between two cars, just like a Adaptive cruise control. User sets in the desired distance and then our car maintains the set distance with the car directly ahead of us. Inner loop of the controller is Speed control Loop and the outer controller is distance controller. This works fine. But what I need to do now is to limit the top speed of my vehicle so that I drive within speed limits. So what I did was I added a saturation block to the output of integrator, and the saturation value is the value of the top speed. This is what i observe:
My car follows the speed of the leading car until it reaches its set speed limit and then maintains this speed regardsless of the distance between two vehicles. But when the leading car starts to slow down , I think my controller reacts slowly only to slow down after my car has virtually collided with the leading car. Thereis always some delay in slowing down my car when i use saturation.
Can someone please guide me with this? How could I solve this problem?
