Adaptive optimal slip ratio estimator for effective braking on a non-uniform condition road

Seyedtabaii, S.; Velayati, A.

doi:10.1080/00051144.2019.1637053

Cited by 12 publications

(13 citation statements)

References 23 publications

(42 reference statements)

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“…The determination of s fref and s bref depends on road factors and vehicle condition, and can be determined by optimal search methods or by dynamic tire model. 4,5,40 And it is not within the scope of this study. In the experiments of the study, s fref is 15% and s bref is 215% in the study.…”

Section: Intervention and End Mechanismmentioning

confidence: 98%

“…On the non-uniform road, an optimal slip ratio is estimated through a dynamic tire model to improve vehicle braking performance on the road of changing conditions. 4 With estimated vehicle speed, the Burckhardt tire model is also used to estimate the friction coefficient and the optimal slip ratio. 5 Besides, an alternative formulation is proposed to replace the simple slip ratio to improve the nonlinear dynamics of vehicle traction.…”

Section: Introductionmentioning

confidence: 99%

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An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

Wang

Yuan

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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In-wheel motors are used in heavy vehicles such as buses and trucks to improve efficiency and compactness, the safety of which is particularly important. Anti-slip control is applied to road vehicles to improve the active safety performance, and it is necessary for heavy in-wheel motor vehicles. However, the experiment results in this study show that the response delay of motors on the heavy vehicle is larger than that of the passenger car, and the vehicle mass often changes, which brings drawbacks to the rapidity and stability of its dynamics control. For these problems, an improved Proportional-Derivative Control with a modifying desired wheel rotational speed is proposed for the slip regulation. The modifying control target is intended to mitigate steady tracking error, the role of which is similar to the traditional Integral Control. The desired wheel rotational speed is modified through the response in the current period, and then is set as the new target in the next period. Because the anti-slip control of driving wheels on each side is independent, the torque reallocation strategy is introduced to coordinate with the yaw control and take the yaw dynamics into account, which therefore improves the lateral stability. To avoid the excessive driving torque increment causing the slipping phenomenon again, after the anti-slip control finishing, a transition process is applied. Finally, simulations and real vehicle experiments are conducted to verify the effectiveness and flexibility of the control algorithm, and the results indicate that the control strategy has an expected performance.

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Section: Intervention and End Mechanismmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

Wang

Yuan

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…Sometimes, one tire is already nearing its limit while the workload of others is relatively low, which impeded the further improvement of vehicle stability. A part from this, Model Predictive Control (MPC) was applied to the anti-slip control of distributed drive vehicles to achieve slip control, lateral stability, and rollover prevention in recent years [20][21][22].…”

Section: Introductionmentioning

confidence: 99%

Practical active traction control for independent‐wheel‐drive electric vehicle based on slip‐ratio threshold determination

Wang

Gao

et al. 2023

Asian Journal of Control

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The traditional traction control system (TCS) based on hydraulic braking only works when the wheels are slipping, which will cause the problem of slow response to extreme slip. In addition, the TCS of four‐wheel‐independent‐drive electric vehicle (4WIDEV) is often based on road adhesion characteristics identification or optimal slip ratio identification to implement active control, which is difficult to achieve in engineering. Aiming at this problem, a practical active TCS is proposed in this paper. Firstly, according to the wheel slip state of the front and rear axles, the dynamic transfer of torque between axles is realized to maintain the vehicle propulsion power. Second, the adhesion conditions between road and tire are classified, and two sets of target slip ratio thresholds are formulated for high and low adhesion pavement, respectively. Then the current road adhesion coefficient is estimated by using the advantage that the in‐wheel motor torque can be obtained in real‐time. Thirdly, the overall framework of the control strategy is established, the logic threshold control algorithm is adopted for tracking the wheel target slip ratio. Finally, the simulation results show that the proposed active TCS can improve the vehicle power and avoid excessive wheel slipping.

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“…Concerning uncertainty in the network, robust controller design is highly appreciative to preserve system performance despite uncontrolled disturbances. Common approaches toward robust designs are fractional order [13], various sliding mode approaches [14,15], μ synthesis [16], H ∞ controllers, using Linear Matrix Inequality (LMI), and applying Kharitonov theorem. In [17], a robust state feedback centralized controller in terms of LMI constraints has been developed.…”

Section: Introductionmentioning

confidence: 99%

Robust decentralized control of interval DC linked hybrid microgrids network

Nabi

Seyedtabaii

2022

IET Control Theory & Appl

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Here, a robust sparse decentralized controller (RSDC) for uncertain DC-linked hybrid microgrids is designed. The robustness against load/generation uncertainty is guaranteed using Kharitonov's stability criteria and sparsity is promoted by appending an l 1 term to the typical Linear Quadratic Regulator (LQR). To improve the convergence rate, the differentiable term of the composite cost function is second order approximated, the coordinate descent technique is adopted, and the "active set" idea which limits the search to the effective regions is employed. In addition, the level of sparsity is automatically and optimally adjusted not to compromise the system's stability and robustness. The algorithm is applied to a 69-bus (consist of 7 hybrid microgrid) distribution system and the controller sparsity percentage, design convergence rate, and performances are compared with the H 2 and H ∞ designs. The results indicate that the proposed method is superior to the others in all aspects, which are presented by the numerical indices, the time-domain transient responses, and the closed-loop poles map.

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Adaptive optimal slip ratio estimator for effective braking on a non-uniform condition road

Cited by 12 publications

References 23 publications

An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

An anti-slip control strategy with modifying target and torque reallocation for heavy in-wheel motor vehicle

Practical active traction control for independent‐wheel‐drive electric vehicle based on slip‐ratio threshold determination

Robust decentralized control of interval DC linked hybrid microgrids network

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