Design and analysis of output feedback constraint control for antilock braking system based on Burckhardt’s model

2019 ◽  
Vol 39 (4) ◽  
pp. 497-513 ◽  
Author(s):  
Youguo He ◽  
Chuandao Lu ◽  
Jie Shen ◽  
Chaochun Yuan
Keyword(s):  
Control Method ◽  
Slip Rate ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Content Type ◽  
Braking System ◽  
Optimal Slip Ratio ◽  
Antilock Braking System ◽  
Constraint Control ◽  
Antilock Braking

Purpose The purpose of this study is to improve vehicles’ brake stability, the problem of constraint control for an antilock braking system (ABS) with asymmetric slip ratio constraints is concerned. A nonlinear control method based on barrier Lyapunov function (BLF) is proposed not only to track the optimal slip ratio but also to guarantee no violation on slip ratio constraints. Design/methodology/approach A quarter vehicle braking model and Burckhardt’s tire model are considered. The asymmetric BLF is introduced into the controller for solving asymmetric slip ratio constraint problems. Findings The proposed controller can implement ABS zero steady-state error tracking of the optimal wheel slip ratio and make slip ratio constraints flexible for various runway surfaces and runway transitions. Simulation and experimental results show that the control scheme can guarantee no violation on slip ratio constraints and avoid self-locking. Originality/value The slip rate equation with uncertainties is established, and BLF is introduced into the design process of the constrained controller to realize the slip rate constrained control.

scholarly journals Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time-Varying Slip Ratio

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Youguo He ◽  
Chuandao Lu ◽  
Jie Shen ◽  
Chaochun Yuan
Keyword(s):  
Stopping Time ◽  
Time Varying ◽  
Tire Model ◽  
Control Parameters ◽  
Slip Ratio ◽  
Braking System ◽  
Optimal Slip Ratio ◽  
Antilock Braking System ◽  
Constraint Control ◽  
Antilock Braking

This paper is concerned with the problem of constraint control for an Antilock Braking System (ABS) with time-varying asymmetric slip ratio constraints. A quarter vehicle braking model with system uncertainties and a Burckhardt’s tire model are considered. The Time-varying Asymmetric Barrier Lyapunov Function (TABLF) is embedded into the controllers for handling the time-varying asymmetric slip ratio constraint problems. Two adaptive nonlinear control methods (TABLF1 and TABLF2) based on TABLF are proposed not only to track the optimal slip ratio but also to guarantee no violation on the slip ratio constraints. Simulation results show that the proposed controllers can guarantee no violation on slip ratio constraints and avoid self-locking. In the meantime, TABLF1 controller can achieve a faster convergence rate, shorter stopping time, and shorter distance, compared to TABLF2 controller with the same control parameters.

scholarly journals Asymmetric Barrier Lyapunov Function-Based Wheel Slip Control for Antilock Braking System

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Xiaolei Chen ◽  
Zhiyong Dai ◽  
Hui Lin ◽  
Yanan Qiu ◽  
Xiaogeng Liang
Keyword(s):  
Wheel Slip ◽  
Slip Ratio ◽  
Braking System ◽  
Aircraft Landing ◽  
Optimal Slip Ratio ◽  
Antilock Braking System ◽  
Control Schemes ◽  
Slip Region ◽  
Antilock Braking ◽  
Hardware In Loop

As an important device of the aircraft landing system, the antilock braking system (ABS) has a function to avoid aircraft wheels self-locking. To deal with the strong nonlinear characteristics, complex nonlinear control schemes are applied in ABS. However, none of existing control schemes focus on the braking operating status, which directly reflects wheels self-locking degree. In this paper, the braking operating status region is divided into three regions: the healthy region, the light slip region, and the deep slip region. An ABLF-based wheel slip controller is proposed for ABS to constrain the braking system operating status in the healthy region and the light slip region. Therefore the ABS will be prevented from operating in the deep slip region. Under the proposed control scheme, self-locking is avoided completely and zero steady state error tracking of the wheel optimal slip ratio is implemented. The Hardware-In-Loop (HIL) experiments have validated the effectiveness of the proposed controller.

A Research on Anti-Slip Regulation for 4WD Electric Vehicle with In-Wheel Motors

2013 ◽  
Vol 347-350 ◽  
pp. 753-757
Author(s):  
Li Zhou ◽  
Lu Xiong ◽  
Zhuo Ping Yu
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Traction Force ◽  
Slip Rate ◽  
Control Effect ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Tire Force ◽  
Optimal Slip Ratio ◽  
Electrical Vehicle

This paper proposes a wheel slip control strategy for 4WD Electrical Vehicle with In-wheel Motors. In the first part of this paper, a brief introduction of sliding mode control for acceleration slip regulation is given. Consider that its control effect varies with road conditions, another algorithm which can automatically adapt to different roads is designed. This method takes advantage of the peculiarity of the longitudinal static tire force curve and regulates wheel slip ratio to the detected optimal value, aiming to maximize the traction force while preserving sufficient lateral tire force. Simulation results show that the slip rate can be regulated to a value around the optimal slip ratio, and the driving torque is very close to the maximum transmissible torque. The control strategy achieves stronger stability, shorter driving distance and hence better control performance.

A Grey Sliding Mode Controller Design for Antilock Braking System

2007 ◽  
Author(s):  
Yesim Oniz ◽  
Erdal Kayacan ◽  
Okyay Kaynak
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Grey System Theory ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Grey System ◽  
Wheel Slip ◽  
Braking System ◽  
Antilock Braking System ◽  
Antilock Braking

The main control objective of an Antilock Braking System (ABS) is to increase the tractive forces between wheel and road surface by keeping the wheel slip at the peak value of μ – λ curve. Conventionally, it is assumed that optimal wheel slip is constant. In this paper, a grey sliding mode controller is proposed to regulate optimal wheel slip depending on the vehicle forward velocity. ABS exhibits strongly nonlinear and uncertain characteristics. To overcome these difficulties, robust control methods should be employed. The concept of grey system theory, which has a certain prediction capability, offers an alternative approach to conventional control methods. The proposed controller anticipates the upcoming values of wheel slip and optimal wheel slip, and takes the necessary action to keep wheel slip at the desired value. The control algorithm is applied to a quarter vehicle model, and it is verified through simulations indicating fast convergence and good performance of the designed controller.

scholarly journals Design of Antilock Braking System Based on Wheel Slip Estimation

2020 ◽  
Vol 1706 ◽  
pp. 012216
Author(s):  
V Dankan Gowda ◽  
M Ramesha ◽  
S B Sridhara ◽  
G Naveena Pai ◽  
Sachin Kumar Patil
Keyword(s):  
Wheel Slip ◽  
Braking System ◽  
Antilock Braking System ◽  
Antilock Braking

Bond graph model-based evaluation of a sliding mode controller for a combined regenerative and antilock braking system

2011 ◽  
Vol 225 (7) ◽  
pp. 918-934 ◽  
Author(s):  
T K Bera ◽  
K Bhattacharya ◽  
A K Samantaray
Keyword(s):  
Load Transfer ◽  
Sliding Mode ◽  
Graph Model ◽  
Bond Graph ◽  
Sliding Mode Controller ◽  
Wheel Slip ◽  
Control Laws ◽  
Braking System ◽  
Antilock Braking System ◽  
Antilock Braking

Combined regenerative and antilock braking in electric/hybrid-electric vehicles provides higher safety in addition to an energy storing capability. Development of a control law for this type of braking system is a challenging task. The antilock braking system (ABS) uses a control strategy to maintain the wheel slip within a predefined range. A sliding mode controller (SMC) for ABS is developed to maintain the optimal slip value. The braking of the vehicle, performed by using both regenerative and antilock braking, is based on an algorithm that decides how to distribute the braking force between the regenerative braking and the antilock braking in emergency/panic braking situations as well as in normal city driving conditions. Detailed bond graph models of a quarter car and four-wheeled vehicles are used in this article to implement and test the control laws. It is found that with combined regenerative and antilock braking, the vehicle’s safety increases (in terms of stopping distance and manoeuvrability) and some amount of kinetic energy can be recovered and stored in the regenerative battery pack. The passenger comfort is improved when a sliding mode ABS controller is used in place of a standard ABS controller for the mechanical braking part. Moreover, the influence of load transfer on the wheels during braking was evaluated on a four-wheeled vehicle model.

Study of the Antilock Braking System with Electric Brake Force Distribution

2010 ◽  
Vol 29-32 ◽  
pp. 1985-1990 ◽  
Author(s):  
Ju Wei Li ◽  
Jian Wang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Force Distribution ◽  
Standard Equipment ◽  
Braking System ◽  
Antilock Braking System ◽  
Asphalt Road ◽  
Brake Force ◽  
Antilock Braking ◽  
Brake Force Distribution

Antilock braking system (ABS) is a standard equipment for passenger car, it can prevent automobile wheels from locking-up and improve braking performance. Electronic brake force distribution (EBD) can prevent the rear wheels from locking prior to the front wheels, it can automatically adjust the braking force distribution scale among the wheels. In this paper, a vehicle model and tire model are developed, a sliding mode controller is designed for ABS system and a fuzzy controller is designed for EBD system. Dry asphalt road and wet asphalt road are used to simulate the performance of ABS/EBD system. The simulation results show that the control method can make full use of the respective advantages of ABS and EBD systems.

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