A study on an anti-lock braking system controller and rear-wheel controller to enhance vehicle lateral stability

2007 ◽  
Vol 221 (7) ◽  
pp. 777-787 ◽  
Author(s):  
Jeonghoon Song ◽  
Heungseob Kim ◽  
Kwangsuck Boo
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Rear Wheel ◽  
Slip Angle ◽  
Lateral Stability ◽  
Motion Controller ◽  
Wheel Slip ◽  
Stopping Distance ◽  
Braking System ◽  
The Stability

This paper presents a mathematical vehicle model that is designed to analyse and improve the dynamic performance of a vehicle. A wheel slip controller for anti-lock braking system (ABS) brakes is formulated using a sliding mode controller and a proportional-integral-derivative (PID) controller for rear wheel steering is also designed to enhance the stability, steerability, and driveability of the vehicle during transient manoeuvres. The braking and steering performances of controllers are evaluated for various driving conditions, such as straight and J-turn manoeuvres. The simulation results show that the proposed full car model is sufficient to predict vehicle responses accurately. The developed ABS reduces the stopping distance and increases the longitudinal and lateral stability of both two-and four-wheel steering vehicles. The results also demonstrate that the use of a rear wheel controller as a yaw motion controller can increase its lateral stability and reduce the slip angle at high speeds.

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.

Vehicle Motion Stability With Two Vehicle Dynamics Models

2011 ◽  
Author(s):  
Jingliang Li ◽  
Jingang Yi
Keyword(s):  
Vehicle Dynamics ◽  
Rear Wheel ◽  
Slip Angle ◽  
State Variables ◽  
Wheel Slip ◽  
Side Slip Angle ◽  
Lateral Dynamics ◽  
Vehicle Maneuver ◽  
The Stability ◽  
Dynamics Models

We present and compare vehicle maneuver stability under two vehicle dynamics models, one with the rear tire slip angle dynamics and the other with the vehicle side slip angle dynamics. Instead of using vehicle mass center side slip angle, we consider to use rear axial slip angle as one of the state variables for studying vehicle lateral dynamics. Using rear wheel slip angle as a state variable for studying vehicle dynamics has been reported in practices in industry but not rigorously studied. We analyze the new vehicle dynamics and compare the stability results with existing reported results. Both analytical and numerical results have shown that the stability region of the vehicle dynamics by using the rear slip angle is less conservative comparing with using the vehicle side slip angle.

Wheel Slip Control Using Sliding-Mode Technique and Maximum Transmissible Torque Estimation

2015 ◽  
Vol 137 (11) ◽  
Author(s):  
Jianqiu Li ◽  
Ziyou Song ◽  
Zhibin Shuai ◽  
Liangfei Xu ◽  
Minggao Ouyang
Keyword(s):  
Sliding Mode ◽  
Adhesive Force ◽  
Rear Wheel ◽  
Front Wheel ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Analysis And Design ◽  
Torque Estimation ◽  
Road Friction ◽  
The Stability

This paper presents the analysis and design of a novel traction control system (TCS) based on sliding-mode control (SMC) and maximum transmissible torque estimation (MTTE) technique, which is employed in four-wheel independent drive electric vehicles (EVs) without detecting the vehicle velocity and acceleration. The original MTTE technique is effective with regard to the antislip control; however, it cannot sufficiently utilize the adhesive force from the tire–road surface. In the proposed TCS algorithm, only front wheels are equipped with the MTTE technique, while rear wheels are equipped with the SMC technique. As a result, the front wheel is critically controlled by the MTTE technique. Thus, its rotary speed can be used to approximately estimate the chassis velocity and acceleration, which are key input parameters of the SMC. The rear wheel slip ratio can be therefore controlled by the SMC which is robust against uncertainties and disturbances of parameters for exploiting more transmissible friction force. In addition, the stability of MTTE is analyzed in this paper because an important parameter is neglected in the original MTTE technique. As a result, the stability condition is changed, and the MTTE is modified in the proposed TCS according to the new conclusion. A half four-wheel drive (4WD) EV model is initially built using matlab/simulink. This paper investigates the proposed TCS for various adhesive conditions involving abrupt change in road friction. Compared with the original MTTE technique, the comprehensive performance, particularly the acceleration ability, is significantly improved by the proposed controller. The simulation result validates the effectiveness and robustness of the proposed TCS.

Slip parameter estimation of a single wheel using a non-linear observer

Robotica ◽  
2008 ◽  
Vol 27 (6) ◽  
pp. 801-811 ◽  
Author(s):  
Z. B. Song ◽  
L. D. Seneviratne ◽  
K. Althoefer ◽  
X. J. Song ◽  
Y. H. Zweiri
Keyword(s):  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Wheel Slip ◽  
Variable Structure System ◽  
Non Linear ◽  
Linear Observer

SUMMARYSliding mode observer is a variable structure system where the dynamics of a nonlinear system is altered via application of a high-frequency switching control. This paper presents a non-linear sliding mode observer for wheel linear slip and slip angle estimation of a single wheel based on its kinematic model and velocity measurements with added noise to simulate actual on-board sensor measurements. Lyapunov stability theory is used to establish the stability conditions for the observer. It is shown that the observer will converge in a finite time, provided the observer gains satisfy constraints based on a stability analysis. To validate the observer, linear and two-dimensional (2D) test rigs are specially designed. The sliding mode observer is tested under a variety of conditions and it is shown that the sliding mode observer can estimate wheel slip and slip angle to a high accuracy. It is also shown that the sliding mode observer can accurately predict wheel slip and slip angle in the presence of noise, by testing the performance of the sliding mode observer after adding white noise to the measurements. An extended Kalman filter is also developed for comparison purposes. The sliding mode observer is better in terms of prediction accuracy.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

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.

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.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

Neural Network Sliding Mode Control of 5DOFs Robotic Manipulator

2014 ◽  
Vol 898 ◽  
pp. 514-520 ◽  
Author(s):  
Chang Kai Xu ◽  
Ming Li ◽  
Jian Yin
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Rbf Neural Network ◽  
Dynamic Performance ◽  
Robotic Manipulator ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability

In this paper, a neural network sliding mode controller for a kind of 5DOFs robotic manipulator is proposed. A radial basis function (RBF) neural network is used as an estimator to approximate uncertainties of the system. The learning algorithm of the neural network improves the performance of the system. A globle terminal sliding mode control (GTSMC) is designed to guarantee the stability and improve the dynamic performance of the robotic manipulator. Simulation results show that the proposed NNSMC strategy is effective to ensure the robustness and dynamic performance of the 5DOFs robotic manipulator.

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.

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