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

Sridhar, N; Devika, K. B.; Subramanian, Shankar C.; Vivekanandan, Gunasekaran; Sivaram, Sriram

doi:10.1080/00423114.2019.1697457

Cited by 19 publications

(13 citation statements)

References 27 publications

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“…The longitudinal forces from the SMC were converted to the required brake chamber pressure and then converted to an equivalent Electro Pneumatic Regulator (EPR) voltage through an inner loop controller design based on Proportional Integral Derivative (PID) control. Also, a delay compensation technique was included to compensate for the delay effects in the air brake system [47]. Here, y d (t) is the desired pressure generated from the outer loop controller, y(t) is the actual pressure value from the sensor, and y e (t) is the predicted pressure.…”

Section: Controller Implementationmentioning

confidence: 99%

Brake Fault Identification and Fault-Tolerant Directional Stability Control of Heavy Road Vehicles

2020

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Accurate fault diagnosis in air brake is crucial to reduce frequent brake inspection and maintenance in heavy commercial road vehicles. Existing model-based fault diagnostic schemes work well under limited vehicle operating conditions, which is insufficient for developing an on-board monitoring device. In this context, a learning-based fault identification scheme using the Random Forest technique, which accommodates the vehicle's wide operating conditions, is proposed. This scheme identifies the brake's fault levels with a better classification accuracy of 92% compared to techniques such as Naïve Bayes, k-Nearest Neighbors, Support Vector Machine, and Decision Tree. Further, a fault-tolerant controller is proposed to overcome the vehicle's directional instability arising due to the brake fault. Two sliding mode controllers, namely differential brake control and steering angle control, were developed to control the yaw angle. These have been implemented in a Hardware in Loop experimental platform with the vehicle dynamic simulation software TruckMaker ® .

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Section: Controller Implementationmentioning

confidence: 99%

Brake Fault Identification and Fault-Tolerant Directional Stability Control of Heavy Road Vehicles

2020

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“…A sliding mode controller based slip regulation algorithm for ABS design was proposed by Sridhar et al. 3 This algorithm has been utilized here for analysing the performance of the designed brake controller. The cascaded control architecture of this ABS design is shown in Figure 4.…”

Section: Controllers For Pneumatic Brake Systemmentioning

confidence: 99%

“…Experiments were also conducted to verify the adequacy of the ABS design based on the presented PID based brake controller for real vehicle operation. The SMC based wheel slip regulation scheme presented in 3 has been used as the outer loop controller for the ABS design. Experiments were conducted for all the test cases considered in Table 1 and the results for the case, unladen vehicle ( m= 4700 kg) under panic braking from an initial speed of 70 km/h on a high μ ( μ= 0.8) road surface are presented here.…”

Section: Controllers For Pneumatic Brake Systemmentioning

confidence: 99%

“…Active Safety Systems are generally designed as cascaded control systems with two control loops. 3,4 The outer loop executes the primary control action, for example, the desired longitudinal slip ratio regulation in ABS and the desired safe spacing in CAS. The inner loop is the actuator control system, which regulates the brake system to obtain the required deceleration as demanded by the outer loop.…”

Section: Introductionmentioning

confidence: 99%

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Delay compensated pneumatic brake controller for heavy road vehicle active safety systems

Devika

Sridhar

Patil

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Performance enhancement of typically sluggish pneumatic brake actuators in Heavy Commercial Road Vehicles (HCRVs) is necessary for the efficacious operation of active safety systems. This study develops a robust Proportional Integral Derivative (PID) controller using the Kharitonov theorem for pneumatic brakes. To account for the inherent time delay present in pneumatic brakes, Padé approximation and state prediction methods were used. The efficacy of the brake controller when used for active safety system operation has been investigated by conducting Hardware-in-Loop (HiL) experiments. It was found that state prediction based design turned out to be a better choice for handling time delays in the brake actuator. This controller was then compared with a Sliding Mode Control (SMC) based brake controller and the performance of both controllers was comparable. Further, the state prediction based PID brake controller was found to be robust up to 100% variation in system time constant and 40% variation in time delay for different road and load conditions.

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“…Miller et al 13 and Morrison and Cebon 14 also utilized HiL experiments to evaluate sliding mode control–based ABS algorithms for heavy road vehicles. Sridhar et al 15 developed a sliding mode control–based anti-lock braking algorithm for heavy vehicles and evaluated the same in a HiL setup consisting of brake hardware from a 4 × 2 HCRV, interfaced with IPG TruckMaker. Other studies that used HiL experiments to develop and test WSR algorithms include Moaveni and Barkhordari, 16 Tavernini et al 17 and Aksjonov et al 18…”

Section: Introductionmentioning

confidence: 99%

An experimentally corroborated framework for emulating wheel lock in a heavy vehicle brake dynamometer

Challa

Singh

Ramakrushnan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Wheel lock in a vehicle during braking is detrimental to its safety, in addition to causing poor braking performance. Wheel slip regulation algorithms could potentially prevent wheel lock and are hence required to be tested and tuned thoroughly prior to in-vehicle deployment. Generally, software-in-the-loop and hardware-in-the-loop tests are explored before on-road vehicle testing. A brake dynamometer can potentially be utilized for wheel slip regulation testing, and this can be placed in between hardware-in-the-loop tests and on-road vehicle testing. Prior to evaluation of wheel slip regulation on a brake dynamometer, it is imperative to realize a wheel lock scenario. This work proposes a methodical framework for emulating wheel lock in a brake dynamometer. In this study, the dynamic effects during braking, particularly load transfer, wheel slip and tyre–road interactions, are subsumed into a single variable termed ‘equivalent inertia’ to replicate a wheel lock event. The variations of this variable were captured through extensive tests on a hardware-in-the-loop platform that consists of a pneumatic brake setup interfaced with IPG TruckMaker® co-simulated with MATLAB/Simulink®, across varying load, road and braking conditions. Equivalent inertia profiles thus generated were then realized in the brake dynamometer, via mechanical discs and electrical inertia. Angular speed profiles from hardware-in-the-loop and dynamometer tests were compared to corroborate the framework. A close correlation between the profiles, highlighted by the root mean square deviation of the order of 100 rad/s, established the effectiveness of the proposed scheme.

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

Cited by 19 publications

References 27 publications

Brake Fault Identification and Fault-Tolerant Directional Stability Control of Heavy Road Vehicles

Brake Fault Identification and Fault-Tolerant Directional Stability Control of Heavy Road Vehicles

Delay compensated pneumatic brake controller for heavy road vehicle active safety systems

An experimentally corroborated framework for emulating wheel lock in a heavy vehicle brake dynamometer

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