Control of independent rear wheel drive vehicle

Proceedings of the Institution of Mechanical Engineers, Part D:

Bang

et al. 2002

This paper presents a sliding mode control for a new anti-lock brake system (ABS ) of a passenger vehicle using electrorheological ( ER) valves. The Bingham model of an ER uid is empirically obtained as a function of electric elds, and it is incorporated with the dynamic model of ER valves. The design parameters of the ER valves such as electrode gap are appropriately determined by considering braking forces required for a small-sized passenger vehicle. An electrically controllable ABS using the ER valves is then proposed and its governing equations of motion are derived. Subsequently, sliding mode controllers are formulated for wheel slip control as well as yaw rate control. In the formulation of the sliding mode controllers, the friction force which is di cult to measure in real time is estimated via a sliding mode observer associated with the fuzzy algorithm. Computer simulations for braking performance and steering stability under various road conditions are undertaken in order to demonstrate the e ectiveness of the proposed ABS.

“…Figure 5 presents the vehicle model and, from the model, the Fig. 5 Vehicle model for yaw rate control following equations of force and moment are derived [10]:…”

Section: Vehicle Model For Yaw Rate Controlmentioning

confidence: 99%

Sliding mode control for anti-lock brake system of passenger vehicles featuring electrorheological valves

Proceedings of the Institution of Mechanical Engineers, Part D:

Bang

et al. 2002

“…It is generally known that yaw rate control needs to be undertaken in order to evaluate the braking performance of ABS. Figure 9 presents the full-vehicle model and the following equations of force and moment are derived from the model [23]:…”

Section: Yaw Rate Controlmentioning

confidence: 99%

The braking performance of a vehicle anti-lock brake system featuring an electro-rheological valve pressure modulator

Sung

Cho

et al. 2007

Smart Mater. Struct.

This paper presents the braking performances of a vehicle anti-lock brake system (ABS) featuring an electro-rheological (ER) valve pressure modulator. As a first step, the principal design parameters of the ER valve and hydraulic booster are appropriately determined by considering the Bingham property of the ER fluid and the braking pressure variation during the ABS operation. An ER fluid composed of chemically treated starch particles and silicone oil is used. An electrically controllable pressure modulator is then constructed and its pressure controllability is empirically evaluated. Subsequently, a quarter-car wheel slip model is established and integrated with the governing equation of the pressure modulator. A sliding mode controller for slip rate control is designed and implemented via the hardware-in-the-loop simulation (HILS). In order to demonstrate the superior braking performance of the proposed ABS, a full car model is derived and a sliding mode controller is formulated to achieve the desired yaw rate. The braking performances in terms of braking distance and step input steering are evaluated and presented in time domain through full car simulations.

“…It is known that yaw rate needs to be controlled during ABS operation to enhance the vehicle stability. Figure 4 presents the vehicle model and from the model, the following equations of force and moment are derived [10].…”

Section: U(e) = L -[{2a N +A 22 + C I )-(X~x D )-A Ll a 21 -(A-a D ) mentioning

confidence: 99%

Control Performance of Vehicle Abs Featuring Er Valve Pressure Modulator

Cho

Wereley

2005

Int. J. Mod. Phys. B

In this work, an electrically controllable anti-lock brake system (ABS) for passenger vehicle is developed by utilizing electrorheological (ER) fluid. A pressure modulator which consists of a cylindrical ER valve and the hydraulic booster is constructed in order to achieve sufficient brake pressure variation during ABS operation. The principal design parameters of the modulator are determined by considering ER properties as well as required braking pressure. After investigating pressure controllability of the modulator, a vehicle model which is integrated with the proposed pressure modulator is formulated to design yaw rate controller. A sliding mode controller is designed to obtain desired yaw rate, and the friction forces between roads and wheels are estimated via the estimator. Braking performances of the proposed ABS under various roads are evaluated through the hardware-in-the-loop-simulation (HILS) and the steering stability during braking operation is demonstrated by undertaking split-p test.