A Sliding Mode Regulator for Antilock Brake System

Sánchez‐Torres, Juan Diego; Loukianov, Alexander G.; Galicia, Marcos I.; Rivera, Jorge

doi:10.3182/20110828-6-it-1002.03644

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…However, they also require additional vehicle parameters, such as tyre-model parameters, mass of the vehicle, and normal load on each wheel, which are difficult to obtain in real-time. Wheel slip regulation has been attempted using sliding mode control (SMC) 8,9,15,16 with Pacejka's Magic Formula tyre model 8 and Fancher tyre model. 9 WSR was carried out using grey system modelling by Kayacan et al, 17 using model predictive control (MPC), [18][19][20][21] using adaptive SMC, 7 and with an extremum seeking algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…First order actuator dynamics have been considered without any brake actuator controller. 11,15,16 Fast acting pneumatic valves were developed by Miller et al 23 for HCRVs, and utilised in the study by Henderson and Cebon, 8 and Morrison and Cebon. 22 In a few studies, 18,19,21 the brake actuator dynamics were incorporated in MPC formulation.…”

Section: Introductionmentioning

confidence: 99%

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An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

Gaurkar

Ramakrushnan

Challa

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Knowledge of the tyre-road interface traction limit during braking of a road vehicle can drastically improve safety and ensure stable braking on varied road conditions. This study proposes an optimal reference slip algorithm that determines the road surface while the vehicle is braking, by implicitly tracking the traction limit. It presents wheel slip variance regulation as a potential approach towards reference wheel slip estimation for wheel slip regulation (WSR). The variance regulation approach computes reference wheel slip using past wheel slip estimates and regulates wheel slip variation at a set point. This variance regulation problem was solved using least-squares estimation, yielding reference slip dynamics. A 3-staged nested control architecture was developed with reference slip dynamics to yield an anti-lock braking system (ABS) algorithm consisting of a brake controller, WSR algorithm and reference slip estimation. The algorithm was experimentally corroborated in a Hardware-in-Loop setup consisting of the pneumatic brake system of a heavy commercial road vehicle, and IPG TruckMaker®, a vehicle dynamics simulation software. The proposed ABS algorithm was tested on straight roads with homogeneous surfaces, split friction surfaces, and transition friction surfaces. It ensured stable braking in all road cases, with a 7%–18% reduction in braking distance on homogeneous road surfaces compared to the same vehicle without ABS. The vehicle directional stability was retained on a split-friction surface, and the ABS algorithm was observed to adapt to sudden transitions in the road surface.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

Gaurkar

Ramakrushnan

Challa

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…Vehicle Anti-lock Braking System (ABS) is being permanently improved to ensure the best possible stability of the vehicle during intensive braking. Slidingmode control (Sánchez-Torres et al 2011), adaptive sliding -mode control (Zhang et al 2014), a different number of phases in ABS logic (Bauer 1999;Gerard et al 2010), artificial neural network (Eneh, Okafor 2014) ing road conditions. Control strategies include identification of the critical wheel's slip ratio, angular acceleration and it's adapting to the existing road friction conditions.…”

Section: System Real-time Adaptationmentioning

confidence: 99%

Technological Measures of Forefront Road Identification for Vehicle Comfort and Safety Improvement

2019

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This paper presents the technological measures currently being developed at institutes and vehicle research centres dealing with forefront road identification. In this case, road identification corresponds with the surface irregularities and road surface type, which are evaluated by laser scanning and image analysis. Real-time adaptation, adaptation in advance and system external informing are stated as sequential generations of vehicle suspension and active braking systems where road identification is significantly important. Active and semi-active suspensions with their adaptation technologies for comfort and road holding characteristics are analysed. Also, an active braking system such as Anti-lock Braking System (ABS) and Autonomous Emergency Braking (AEB) have been considered as very sensitive to the road friction state. Artificial intelligence methods of deep learning have been presented as a promising image analysis method for classification of 12 different road surface types. Concluding the achieved benefit of road identification for traffic safety improvement is presented with reference to analysed research reports and assumptions made after the initial evaluation.

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Antilock brake algorithm for heavy commercial road vehicles with delay compensation and chattering mitigation

Sridhar

Devika

Subramanian

et al. 2019

Vehicle System Dynamics

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A Sliding Mode Regulator for Antilock Brake System

Cited by 5 publications

References 9 publications

An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

Technological Measures of Forefront Road Identification for Vehicle Comfort and Safety Improvement

Antilock brake algorithm for heavy commercial road vehicles with delay compensation and chattering mitigation

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