Journal of Mechanical Science and Technology

  • 제20권11호
  • /
  • Pages.1801-1812
  • /
  • 2006
  • /
  • 1738-494X(pISSN)
  • /
  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Variable Parameter Sliding Controller Design for Vehicle Brake with Wheel Slip

  • Liang, Hong (Faculty of Electronics and Information, Chonbuk National University) ;
  • Chong, Kil-To (Faculty of Electronics and Information, Chonbuk National University)
  • 발행 : 2006.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, pushrod force as the end control parameter, and an antilock sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. Simulation results indicate that the velocity and spacing errors were slightly larger than the results that without considering wheel slip effect, the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and the limit for the antilock control on non-constant adhesion road condition was determined by the minimum of the equivalent adhesion coefficient.

키워드

참고문헌

  1. Austin, L. and Morrey, D., 2000, 'Recent Advances in Antilock Braking Systems and Traction Control Systems,' Proceedings of the I MECH E Part D Journal of A utomobile Engineering, Vol. 214, No.6, pp.625-638 https://doi.org/10.1243/0954407001527493
  2. Chien, C. C., Ioannou, P. and Lai, M. C., 1994, 'Entrainment and Vehicle Following Controllers Design For Autonomous Intelligent Vehicles,' Int Proc. ACC, pp. 6-11 https://doi.org/10.1109/ACC.1994.751682
  3. Choi, S. B. and Hedrick, J. K., 1996, 'Robust Throttle Control of Automotive Engines: Theory and Experiments,' ASME J. DSMC 118, pp.92-98 https://doi.org/10.1115/1.2801156
  4. Gerdes, J. C. and Hedrick, J. K., 1995, 'Brake System Requirements for Platooning on an Automated Highway,' In Proc. ACC, pp. 165-169 https://doi.org/10.1109/ACC.1995.529229
  5. Gerdes, J. C. and Hedrick, J. K., 1997, 'Vehicle Speed and Spacing Control Via Coordinated Throttle and Brake Actuation,' Control Engr. Practice, Vol. 5, No. 11, pp. 1607-1614 https://doi.org/10.1016/S0967-0661(97)10016-8
  6. Gerdes, J. C., 1996, 'Decoupled Design of Robust Controllers for Nonlinear Systmes : As Motivated by and Applied to Coordinated Throttle and Brake Control for Automated Highways,' PhD dissertation. U.C. Berkeley, LA. CA
  7. Haskara, I., Ozgilner, U. and Winkelman, J., 2000, 'Wheel Slip Control for Antispin Acceleration Via Dynamic Spark Advance,' Control Eng. Practice, Vol. 8, No. 10, pp.1135-1148 https://doi.org/10.1016/S0967-0661(00)00047-2
  8. Huang, S. N. and Ren, W., 1999, 'Vehicle Longitudinal Control using Throttles and Brakes,' Robotics and Autonomous Systems, Vol. 26, No.4, pp.241-253 https://doi.org/10.1016/S0921-8890(98)00056-6
  9. Lee, K. J. and Park, K. H., 1999, 'Optimal Robust Control of a Contactless Brake System Using an Eddy Current,' Mechatronics, Vol. 9, No.6, pp.615-631 https://doi.org/10.1016/S0957-4158(99)00008-2
  10. Li, J., Yu, F., Zhang, J. W., Feng, J. Z. and Zhao, H. P., 2002, 'The Rapid Development of a Vehicle Electronic Control System and its Application to an Antilock Braking System Based on Hardware-in-the-loop Simulation,' Proceedings of the I MECH E Part D Journal of Automobile Engineering, Vol. 216, No.2, pp. 95-105
  11. Liang, H., Chong, K. T., No, T. S. and Yi, S. Y, 2003, 'Vehicle Longitudinal Brake Control Using Variable Parameter Sliding Control,' Control Engineering Practice, Vol. 11, No.4, pp.403-411 https://doi.org/10.1016/S0967-0661(02)00176-4
  12. Maciuca, D. B., Gerdes, J. C. and Hedrick, J. K., 1994, 'Automatic Braking Control for IVHS,' Proceedings of the International Symposium on Advanced Vehicle Control (AVEC 1994), Tsukuba, Japan, pp. 69-74)
  13. Maciuca, D. B., 1997, 'Nonlinear Robust and Adaptive Control with Application to Brake Control for Automated Highway Systems,' PhD dissertation, U.C. Berkeley, LA. CA
  14. Maciuca, D. B. and Hedrick, J. K., 1995, 'Advanced Nonlinear Brake System Control for Vehicle Platooning,' Proceedings of the third European Control Conference (ECC 1995), Rome, Italy
  15. Ono, E., Asano, K., Sugai, M., Ito, S., Yamamoto, M., Sawada, M. and Yasui, Y., 2003, 'Estimation of Automotive Tire Force Characteristics Using Wheel Velocity,' Control Engineering Practice, Vol. 11, No. 12, pp. 1361-1370 https://doi.org/10.1016/S0967-0661(03)00073-X
  16. Pauwelussen, J. P., Gootjes, L., Schroder, C., Kohne, K. -U., Jansen, S. and Schmeitz, A., 2003, 'Full Vehicle ABS Braking Using the SWIFT Rigid Ring Tyre Model,' Control Engineering Practice, Vol. 11, No.2, pp. 199-207 https://doi.org/10.1016/S0967-0661(02)00185-5
  17. Ray, Laura R., 1997, 'Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiments,' Automatica, Vol. 33, No. 10, pp. 1819-1833 https://doi.org/10.1016/S0005-1098(97)00093-9
  18. Suh, M. W., Park, Y. K. and Kwon, S. J., 2002, 'Braking Performance Simulation for a Tractorsemitrailer Vehicle with an air Brake System,' Proceedings of the I MECH E Part D Journal of Automobile Engineering, Vol. 216, No.1, pp.43-54
  19. Swaroop D., 1994, 'String Stability of Interconnected Applications to IVHS,' PhD Dissertation, U.C. Berkeley, LA. CA
  20. Un sal, C. and Kachroo, P., 1999, 'Sliding Mode Measurement Feedback Control for Antilock Braking Systems,' IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol. 7, No. 2, pp.271-281 https://doi.org/10.1109/87.748153
  21. Utkin, V. I., 1977, 'Survey Paper, Variable Structure Systems with Sliding Modes,' IEEE Transactions on Automatic Control, Vol. AC-22, No.2, pp.212-222 https://doi.org/10.1109/TAC.1977.1101446
  22. Wellstead, P. E. and Pettit, N. B. O. L., 1997, 'Analysis and Redesign of an Antilock Brake System Controller,' IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, Vol. 144, No.5, pp.413-426 https://doi.org/10.1049/ip-cta:19971441
  23. Wu, M. C. and Shih, M. C., 2003, 'Simulated and Experimental Study of Hydraulic Anti-lock Braking System Using Sliding-mode PWM control,' Mechatronics, Vol. 13, No.4, pp. 331-351 https://doi.org/10.1016/S0957-4158(01)00049-6
  24. Yoshioka, T., Adachi, T., Butsuen, T., Okazaki, H. and Mochizuki, H., 1999, 'Application of Sliding-mode theory to Direct Yaw-moment Control,' JSAE Review, Vol. 20, No.4, pp. 523-529 https://doi.org/10.1016/S0389-4304(99)00050-8