The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a vehicle stability control system is developed based on the braking monitor, wheel slip controller, and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force, and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw-moment controller and fuzzy logic. A hardware-in-the-loop simulator (HILS) is built including electrohydraulic brake hardware and vehicle dynamics software. The effectiveness of the proposed stability control system is demonstrated through the HILS experiment.
An adaptive dynamic sliding mode fuel injection control algorithm based on the measurement of a binary oxygen sensor to reduce the exhaust gas emissions is proposed. The controller suggested in this paper is designed on the basis of the two-state dynamic engine model developed in the crank angle domain, and it is composed of an adaptation law for fuel delivery model parameters and measurement bias in mass air flowrate. The control algorithm is mathematically compact enough to run in real time, and it is robust to modelling errors as well as to rapidly changing manoeuvres of the throttle. The simulation and experimental results show that this algorithm can substantially reduce the transient peaks in air-fuel ratio (AFR) while maintaining robustness to model errors and measurement delay.
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