scholarly journals Extremum-seeking algorithms for the emergency braking of heavy goods vehicles

2017 ◽  
Vol 231 (14) ◽  
pp. 1961-1977 ◽  
Author(s):  
Graeme Morrison ◽  
David Cebon
Keyword(s):  
Performance Metrics ◽  
Sliding Mode ◽  
Model Fitting ◽  
Operating Conditions ◽  
Extremum Seeking ◽  
Wheel Slip ◽  
Slip Control ◽  
Emergency Braking ◽  
Braking System ◽  
Heavy Goods Vehicles

A pneumatic slip control braking system was demonstrated, which reduces the emergency stopping distances of heavy goods vehicles by up to 19%. Solutions are still required to set the optimal reference wheel slip for this system online, so that it can adapt to changing operating conditions. This paper considers whether the use of extremum-seeking algorithms is a feasible alternative approach to online tyre model fitting, the computational expense of which has, to date, inhibited real-time implementation. The convergence and the stability properties of a first-order sliding-mode extremum-seeking algorithm are discussed, and its tuneable parameters are recast as physically meaningful performance metrics. Computer simulations are conducted using a detailed braking system model, and hardware-in-the-loop simulations are conducted with prototype pneumatic slip control braking hardware for heavy goods vehicles. The extremum-seeking algorithm enables the braking system to achieve at least 95% of the maximum possible braking force for almost the entirety of an emergency stop. The robustness to parameter errors, the road roughness and the changing friction conditions are all explored.

Designing and testing an advanced pneumatic braking system for heavy vehicles

2012 ◽  
Vol 227 (8) ◽  
pp. 1715-1729 ◽  
Author(s):  
Jonathan I Miller ◽  
Leon M Henderson ◽  
David Cebon
Keyword(s):  
Sliding Mode ◽  
Control Algorithms ◽  
Hardware In The Loop ◽  
Low Friction ◽  
Wheel Slip ◽  
Emergency Situations ◽  
Braking System ◽  
Order Of Magnitude ◽  
Heavy Goods Vehicles ◽  
Braking Control

Heavy goods vehicles exhibit poor braking performance in emergency situations when compared to other vehicles. Part of the problem is caused by sluggish pneumatic brake actuators, which limit the control bandwidth of their antilock braking systems. In addition, heuristic control algorithms are used that do not achieve the maximum braking force throughout the stop. In this article, a novel braking system is introduced for pneumatically braked heavy goods vehicles. The conventional brake actuators are improved by placing high-bandwidth, binary-actuated valves directly on the brake chambers. A made-for-purpose valve is described. It achieves a switching delay of 3–4 ms in tests, which is an order of magnitude faster than solenoids in conventional anti-lock braking systems. The heuristic braking control algorithms are replaced with a wheel slip regulator based on sliding mode control. The combined actuator and slip controller are shown to reduce stopping distances on smooth and rough, high friction ( μ = 0.9) surfaces by 10% and 27% respectively in hardware-in-the-loop tests compared with conventional ABS. On smooth and rough, low friction ( μ = 0.2) surfaces, stopping distances are reduced by 23% and 25%, respectively. Moreover, the overall air reservoir size required on a heavy goods vehicle is governed by its air usage during an anti-lock braking stop on a low friction, smooth surface. The 37% reduction in air usage observed in hardware-in-the-loop tests on this surface therefore represents the potential reduction in reservoir size that could be achieved by the new system.

scholarly journals Simulation Study of the Process of Friction in the Working Elements of a Car Braking System at Different Degrees of Wear

2018 ◽  
Vol 12 (3) ◽  
pp. 221-226 ◽  
Author(s):  
Andrzej Borawski
Keyword(s):  
Simulation Study ◽  
Friction Pair ◽  
Experimental Studies ◽  
Real Life ◽  
Operating Conditions ◽  
Heating Process ◽  
Passenger Cars ◽  
The Road ◽  
Emergency Braking ◽  
Braking System

Abstract Among the many elements of a modern vehicle, the braking system is definitely among the most important ones. Health, and, frequently, life, may rest upon the design and reliability of brakes. The most common friction pair used in passenger cars today is a disc which rotates with the road wheel and a cooperating pair of brake pads. The composite material of the pad results in changing tribological properties as the pad wears, which was demonstrated in experimental studies. The change is also facilitated by the harsh operating conditions of brakes (high and rapid temperature changes, water, etc.). This paper looks into how changing tribology reflects on the heating process of disc and pads during braking. And so a simulation study was conducted, as this method makes it possible to measure temperature in any given point and at any time, which is either impossible or extremely difficult in real life conditions. Finite element method analyses were performed for emergency braking events at various initial speeds of the vehicle reflecting the current road speed limits.

scholarly journals Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2501 ◽  
Author(s):  
Jinhong Sun ◽  
Xiangdang Xue ◽  
Ka Wai Eric Cheng
Keyword(s):  
Controller Design ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Rolling Friction ◽  
Resistance Force ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Braking System ◽  
Wheel Rolling ◽  
Braking Torque

With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel slip ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideration of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel slip ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.

Enhanced Wheel Slip Sliding Mode Controller for Heavy Goods Vehicles

2020 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Fredrik Bruzelius ◽  
Bengt Jacobson ◽  
Edo Frederik Drenth
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Wheel Slip ◽  
Heavy Goods Vehicles

Wheel Slip Control via Second-Order Sliding-Mode Generation

2010 ◽  
Vol 11 (1) ◽  
pp. 122-131 ◽  
Author(s):  
M. Amodeo ◽  
A. Ferrara ◽  
R. Terzaghi ◽  
C. Vecchio
Keyword(s):  
Sliding Mode ◽  
Second Order ◽  
Wheel Slip ◽  
Slip Control ◽  
Second Order Sliding Mode ◽  
Mode Generation

scholarly journals Robust Wheel Slip for Vehicle Anti-lock Braking System with Fuzzy Sliding Mode Controller (FSMC)

2020 ◽  
Vol 10 (5) ◽  
pp. 6368-6373
Author(s):  
S. Latreche ◽  
S. Benaggoune
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Wheel Slip ◽  
Ground Vehicle ◽  
Strongly Nonlinear ◽  
Braking System ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
New Strategies

Anti-lock Braking System (ABS) is used in automobiles to prevent slipping and locking of wheels after the brakes are applied. Its control is a rather complicated problem due to its strongly nonlinear and uncertain characteristics. The aim of this paper is to investigate the wheel slip control of the ground vehicle, comprising two new strategies. The first strategy is the Sliding Mode Controller (SMC) and the second one is the Fuzzy Sliding Mode Controller (FSMC), which is a combination of fuzzy logic and sliding mode, to ensure the stability of the closed-loop system and remove the chattering phenomenon introduced by classical sliding mode control. The obtained simulation results reveal the efficiency of the proposed technique for various initial road conditions.

Wheel Slip Control for the Electric Vehicle With In-Wheel Motors: Variable Structure and Sliding Mode Methods

2020 ◽  
Vol 67 (10) ◽  
pp. 8535-8544 ◽  
Author(s):  
Dzmitry Savitski ◽  
Valentin Ivanov ◽  
Klaus Augsburg ◽  
Tomoki Emmei ◽  
Hiroyuki Fuse ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheel Slip ◽  
Slip Control
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