Compression braking control for heavy-duty vehicles

Druzhinina, Maria; Moklegaard, Lasse; Stefanopoulou, Anna G.

doi:10.1109/acc.2000.878666

Cited by 18 publications

(14 citation statements)

References 13 publications

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“…A reasonable tradeoff between complexity and accuracy is achieved by the choice of a ®xed (®rst) order LTI for all modes and operating conditions. A low ®xed order linear system with varying parameters is a compact and desirable representation for both linear [15] and nonlinear (similar to the backstepping method in [14]) control design, but it is challenging task because each engine mode is governed by different dynamics. In particular, the step responses to changes in engine speed while in braking mode, are more accurately approximated with second order systems than with ®rst order ones.…”

Section: Averaging and Identification Of Torquementioning

confidence: 99%

See 1 more Smart Citation

Brake Valve Timing and Fuel Injection: a Unified Engine Torque Actuator for Heavy-Duty Vehicles

Moklegaard¹,

Druzhinina²,

Stefanopoulou³

2001

Vehicle System Dynamics

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A uni®ed engine torque actuator for heavy-duty vehicles is developed in this paper. Based on averaging and identi®cation of the instantaneous torque response for changes in brake valve timing and fuel¯ow, we derive a control oriented engine model of a six cylinder, 350 Hp turbocharged diesel engine, equipped with a compression brake. This work bridges the gap between the detailed compression crank angle based models developed in the engine design community, and the ®rst order lag representation of diesel engine torque response used in the vehicle dynamics community. Moreover, we integrate the compression brake actuator with the service brakes and design a PI-controller that emulates the driver's actions during long descends on grades. The controller simply uses the engine speed measurement to activate the service brakes only when needed.

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Section: Averaging and Identification Of Torquementioning

confidence: 99%

“…Speci®cally, the authors are using the model reference adaptive control (MRAC) approach in [14], and the speed gradient method in [16] to address the HDV speed regulating and tracking problems during large parameter deviations and unknown road conditions.…”

Section: Sensitivity Analysismentioning

confidence: 99%

Brake Valve Timing and Fuel Injection: a Unified Engine Torque Actuator for Heavy-Duty Vehicles

Moklegaard¹,

Druzhinina²,

Stefanopoulou³

2001

Vehicle System Dynamics

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“…We have previously studied the effects of continuously varying valve timing on vehicle response in [2,3,8,91. In [2], we have developed an adaptive controller that estimates the vehicle mass and road grade values and controls the continuously variable compression brake to ensure consistent and robust speed tracking performance in the face of unknown vehicle mass and significant road grade changes. However, the continuously variable compression braking represent an advanced technology which is not available on production vehicles at the present time.…”

Section: Introductionmentioning

confidence: 99%

Speed control experiments for commercial heavy vehicles with coordinated friction and engine compression brakes

Druzhinina

Stefanopoulou

2002

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)

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In this paper we describe the development and experimental validation of a simple coordination scheme between friction and engine compression brakes for a Class 8 Freightliner truck used as a development platform in the California PATH program. The coordination scheme is tuned to minimize the use of friction brakes while maintaining the speed tracking performance of the closed-loop braking controller that utilizes the friction (service) brakes only. Through the coordination scheme, a PID controller command is interpreted~as a braking torque demand and split into a friction brake command and compression brake command. The split is based on the models for the compression braking torque and friction braking torque developed and identified from "field' experiments performed in Crow's Landing. The results of closedloop experiments show that the integration of the compression brake into the speed control framework reduces the usage and wear of the conventional friction brakes.

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“…However, the remaining unknown, road grade, has been mainly ignored in previous research. An exception to this has been an estimation scheme by [13] which estimates mass and grade while the vehicle is braking. As shown in Figure 1, forces from road grade play a major role in uphill sections, particularly for heavy trucks.…”

Section: Estimation Outlinementioning

confidence: 99%

“…Heavy vehicles generally exhibit larger variations in parameters such as vehicle mass (up to 500% differences between loaded and unloaded configurations) and aerodynamic drag than do passenger cars [13,14,53]. These facts highlight the need for estimation of mass and drag forces on Another variable that has a profound effect on vehicle performance is the road grade.…”

Section: Introductionmentioning

confidence: 99%

Command modification using input shaping for automated highway systems with heavy trucks

Bae

Gerdes

Proceedings of the 2003 American Control Conference, 2003.

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Compression braking control for heavy-duty vehicles

Cited by 18 publications

References 13 publications

Brake Valve Timing and Fuel Injection: a Unified Engine Torque Actuator for Heavy-Duty Vehicles

Brake Valve Timing and Fuel Injection: a Unified Engine Torque Actuator for Heavy-Duty Vehicles

Speed control experiments for commercial heavy vehicles with coordinated friction and engine compression brakes

Command modification using input shaping for automated highway systems with heavy trucks

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