유공압시스템학회논문집 (Transactions of The Korea Fluid Power Systems Society)
- 제4권1호
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- Pages.13-17
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- 2007
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- 1738-3315(pISSN)
브레이크 게인 적응 휠 슬립 제어에 관한 연구
A Study on Brake Gain Adaptive Wheel Slip Control
초록
The brake gain adaptive wheel slip controller for a vehicle is designed in this paper. The brake gain from braking pressure to braking torque defined by friction coefficient, friction area and effective friction radius is estimated by the adaptive law based on the wheel slip dynamics. And the wheel slip controller is designed based on the estimated brake gain. The robustness of the designed controller is analyzed using Lyapunov function and the convergence of brake gain is verified. Proposed wheel slip controller is verified via CarSim simulation with two kinds of desired wheel slip ratio.
키워드