Traction Control Development for Heavy-Duty Off-Road Vehicles Using Sliding Mode Control

International Journal of Fluid Power ◽

10.13052/ijfp1439-9776.2035 ◽

2020 ◽

Author(s):

Addison Alexander ◽

Andrea Vacca

Keyword(s):

Sliding Mode ◽

Heavy Duty ◽

Nonlinear Controller ◽

Road Vehicles ◽

Wheel Slip ◽

Traction Control ◽

Mode Design ◽

Construction Machine ◽

Control Capability ◽

Assistance Systems

Construction equipment represents a unique field for operator assistance systems. These machines operate in applications where safety and productivity are paramount. One mechanism of interest recently is traction control. In order to push the limits of the traction control capability, a nonlinear controller is created. To do this, a nonlinear model of a representative construction machine is developed. Based on this model, a sliding mode-type controller is generated. The controller is then run in simulation and implemented on a prototype machine. The sliding mode design shows an improvement in both wheel slip and machine pushing force over previous work.

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Sliding mode control algorithms for wheel slip control of road vehicles

2017 American Control Conference (ACC) ◽

10.23919/acc.2017.7963616 ◽

2017 ◽

Cited By ~ 4

Author(s):

Gian Paolo Incremona ◽

Enrico Regolin ◽

Alessio Mosca ◽

Antonella Ferrara

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Control Algorithms ◽

Road Vehicles ◽

Wheel Slip ◽

Slip Control ◽

Mode Control

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Dynamic Brake Force Distribution for Heavy Commercial Road Vehicles Using Wheel Slip Regulation

Volume 4: Dynamics, Vibration, and Control ◽

10.1115/imece2019-12082 ◽

2019 ◽

Author(s):

Akhil Challa ◽

K. B. Devika ◽

Shankar C. Subramanian ◽

Gunasekaran Vivekanandan ◽

Sriram Sivaram

Keyword(s):

Sliding Mode ◽

Traction Force ◽

Simulation Software ◽

Force Distribution ◽

Vehicle Dynamic ◽

Road Vehicles ◽

Wheel Slip ◽

Braking Performance ◽

Brake Force ◽

Brake Force Distribution

Abstract Wheel lock is an undesired phenomenon in Heavy Commercial Road Vehicles (HCRVs) and wheel slip control within a desired range is of crucial importance for stable and effective braking. This study proposes a framework to distribute brake force dynamically between the front and rear wheels, primarily to avoid instability by preventing wheel lock. Further, it ensures the maximum utilization of the available traction force at the tire-road interface that varies during the course of braking due to factors like load transfer. Wheel slip regulation provides an approach to maximize braking performance that subsumes the effects of varying road, load and braking conditions that occur during vehicle deceleration. The methodology proposed consists of a wheel slip controller that calculates the required brake force distribution parameters, which are then provided to the brake controller for control action. Sliding mode control was used because of the nonlinear nature of the longitudinal vehicle dynamic model considered and for robustness towards different parameter variations. The algorithm was implemented on a Hardware-in-Loop test setup consisting of a pneumatic air brake system, interfaced with IPG-TruckMaker® (a vehicle dynamic simulation software), and co-simulated with MATLAB-Simulink®. It was found that this algorithm improved the braking performance of a HCRV both in terms of stopping distance and vehicle stability.

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Traction Control of Electric Vehicles Using Sliding-Mode Controller with Tractive Force Observer

International Journal of Vehicular Technology ◽

10.1155/2014/829097 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 7

Author(s):

Suwat Kuntanapreeda

Keyword(s):

Sliding Mode ◽

Nonlinear Function ◽

Control Law ◽

Tractive Force ◽

Wheel Slip ◽

Slip Ratio ◽

Traction Control ◽

Control Approach ◽

Control Objective ◽

Safety And Stability

Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced by friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used to design a robust traction controller. The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A nonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental results have illustrated the success of the proposed observer-based controller.

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