Embedded Files
Anti-lock-braking, Traction Control and Stability Control are very well developed control systems in the Automotive sector. This section will try to cover some practical aspects of system design.
Anti-Lock-Braking (ABS)
[]
Friction calculation:
[c1*(1-e^c2s)-c3*s]e^-c4*v
where
s = slip
c1 = 1.28 (parameter)
c2 = 24.0 (parameter)
c3 = 0.52 (parameter)
c4 = 0.03 (parameter)
Diagrams (to sort out)
Sensor information
Useful references:
SimulinkBrakingSystemQuarterCar
ABS FuzzySlidingModeController
A. Mirzaei, M. Moallem, B. Dehkordi, and B. Fahimi, “Design of an optimal fuzzy controller for
antilock braking systems,” IEEE Transactions on Vehicular Technology, vol. 55, no. 6, pp. 1725–
1730, Nov 2006.
E. M. Kasprzak, “Capabilities report,” Calspan TIRF, Tech. Rep., 2012.
Bosch Automotive Handbook, Electronic ed., Robert Bosch GmbH, 2002.
C.-K. Chen and M.-C. Shih, “PID-Type Fuzzy Control for Anti-Lock Brake Systems with Parameter
Adaptation,” JSME International Journal Series C, vol. 47, pp. 675–685, 2004.
“Vehicle dynamics terminology,” SAE Std. J670-2008, 2008.
M. Brosnan, A. Sweat, J. Wood, and A. Radlbeck, “Anti-lock braking systems,” University of Connecticut,
Tech. Rep., 2012.
A. A. Aly, E.-S. Zeidan, A. Hamed, and F. Salem, “An antilock-braking systems (ABS) control: A
technical review,” Intelligent Control and Automation, no. 2, pp. 186–195, 2011.
“Non-skid braking,” Flight Internacional, pp. 587–588, October 1953.
R. Limpert, Brake Design and Safety, 2nd ed. SAE - Society of Automotive Engeneers, Inc., 1999.
H. Raza, Z. Xu, B. Yang, and P. Ioannou, “Modeling and control design for a computer-controlled
brake system,” IEEE Transactions on Control Systems Technology, vol. 5, no. 3, pp. 279–296, May
1997.
H. B. Pacejka, Tyre and Vehicle Dynamics, 3rd ed. Butterworth-Heinemann, 2012, ch. 4.
C. C. de Wit, P. Tsiotras, E. Velenis, M. Basset, and G. Gissinger, “Dynamic friction models for
road/tire longitudinal interaction,” Vehicle System Dynamics, vol. 39, no. 3, pp. 189–226, 2003.
J. S. R. Jang, C. T. Sun, and E. Mizutani, Neuro-Fuzzy and Soft Computing: A Computational
Approach to Learning and Machine lntelligence, 1st ed. Prentice-Hall, Inc., 1997, ch. 4.
81
A. Harifi, A. Aghagolzadeh, G. Alizadeh, and M. Sadeghi, “Designing a sliding mode controller for
antilock brake system,” in The International Conference on Computer as a Tool (EUROCON), vol. 1,
Nov 2005, pp. 258–261.
E. Velenis, P. Tsiotras, C. Canudas De Wit, and M. Sorine, “Dynamic Tire Friction Models for Combined
Longitudinal and Lateral Vehicle Motion,” Vehicle System Dynamics, vol. 43, no. 1, pp. 3–29,
2005.
K. Z. Rangelov, “Simulink model of a quarter-vehicle with an anti-lock braking system,” Master’s
thesis, Eindhoven University of Technology, March 2004.
C. Jun, “The study of ABS control system with different control methods,” in Proceedings of the 4th
International Symposium on Advanced Vehicle Control, 1998, pp. 623–628.
T. K. Bera, K. Bhattacharya, and A. K. Samantaray, “Evaluation of antilock braking system with
an integrated model of full vehicle system dynamics,” Simulation Modelling Practice and Theory,
vol. 19, no. 10, pp. 2131–2150, November 2011.
Q. Fu, L. Zhao, M. Cai, M. Cheng, and X. Sun, “Simulation research for quarter vehicle ABS on
complex surface based on PID control,” in 2nd International Conference on Consumer Electronics,
Communications and Networks (CECNet), April 2012, pp. 2072–2075.
F. Jiang and Z. Gao, “An application of nonlinear PID control to a class of truck ABS problems,” in
Proceedings of the 40th IEEE Conference on Decision and Control, vol. 1, 2001, pp. 516–521 vol.1.
E. Kayacan, Y. Oniz, and O. Kaynak, “A grey system modeling approach for sliding-mode control of
antilock braking system,” IEEE Transactions on Industrial Electronics, vol. 56, no. 8, pp. 3244–3252,
Aug 2009.
J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Prentice Hall, 1991, ch. 7.
T. Shim, S. Chang, and S. Lee, “Investigation of sliding-surface design on the performance of sliding
mode controller in antilock braking systems,” IEEE Transactions on Vehicular Technology, vol. 57,
no. 2, pp. 747–759, March 2008.
N. Patra and K. Datta, “Sliding mode controller for wheel-slip control of anti-lock braking system,” in
IEEE International Conference on Advanced Communication Control and Computing Technologies
(ICACCCT), Aug 2012, pp. 385–391.
Y. Tang, X. Zhang, D. Zhang, G. Zhao, and X. Guan, “Fractional order sliding mode controller design
for antilock braking systems,” Neurocomputing, vol. 111, no. 0, pp. 122 – 130, 2013.
A. V. Topalov, Y. Oniz, E. Kayacan, and O. Kaynak, “Neuro-fuzzy control of antilock braking system
using sliding mode incremental learning algorithm,” Neurocomputing, vol. 74, no. 11, pp. 1883 –
1893, 2011.
82
N. Raesian, N. Khajehpour, and M. Yaghoobi, “A new approach in anti-lock braking system (ABS)
based on adaptive neuro-fuzzy self-tuning PID controller,” in 2nd International Conference on Control,
Instrumentation and Automation (ICCIA), Dec 2011, pp. 530–535.
W.-Y.Wang, M.-C. Chen, and S.-F. Su, “Hierarchical fuzzy-neural control of anti-lock braking system
and active suspension in a vehicle,” Automatica, vol. 48, no. 8, pp. 1698 – 1706, 2012.
A. B. Sharkawy, “Genetic fuzzy self-tuning PID controllers for antilock braking systems,” Engineering
Applications of Artificial Intelligence, vol. 23, no. 7, pp. 1041 – 1052, 2010.
F. Jiang, “A novel feedback control approach to a class of antilock brake problems,” Ph.D. dissertation,
Cleveland State University, May 2000.
J. Sousa and U. Kaymak, Fuzzy Decision Making in Modeling and Control, ser. World Scientific
series in robotics and intelligent systems. World Scientific, 2002.
L. jun Wu, “Experimental study on vehicle speed estimation using accelerometer and wheel speed
measurements,” in Second International Conference on Mechanic Automation and Control Engineering
(MACE),, 2011, pp. 294–297.
F. Jiang and Z. Gao, “An adaptive nonlinear filter approach to the vehicle velocity estimation for
ABS,” in Proceedings of the 2000 IEEE International Conference on Control Applications, 2000, pp.
490–495.
S. M. Savaresi and M. Tanelli, Active Braking Control Systems Design for Vehicles. Springer, 2010,
ch. 5.
L. Chu, Y. Shi, Y. Zhang, Y. Ou, and M. Xu, “Vehicle velocity estimation based on adaptive kalman
filter,” in International Conference on Computer, Mechatronics, Control and Electronic Engineering
(CMCE), vol. 3, Aug 2010, pp. 492–495.
M. Amiri and B. Moaveni, “Vehicle velocity estimation based on data fusion by kalman filtering for
ABS,” in 20th Iranian Conference on Electrical Engineering (ICEE), May 2012, pp. 1495–1500.
P. Oliveira, “Periodic and non-linear estimators with applications to the navigation of ocean vehicles,”
Ph.D. dissertation, UTL-Instituto Superior T´ecnico, July 2002.
C. Mi, H. Lin, and Y. Zhang, “Iterative learning control of antilock braking of electric and hybrid
vehicles,” Vehicular Technology, IEEE Transactions on, vol. 54, no. 2, pp. 486–494, March 2005.
Page updated
Google Sites
Report abuse