Extremum-seeking algorithms for the emergency braking of heavy goods vehicles

Morrison, Graeme; Cebon, David

doi:10.1177/0954407016689515

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…Although this idealised performance could never be completely realised in the presence of disturbances, noise, uncertain parameters and bandwidth limits, it is a reasonable approximation of current high-bandwidth prototype systems. Accurate regulation of slip has been demonstrated in real vehicle tests with the CVDC's prototype system [11,22] and various methods have been proposed by which to estimate the optimum slip value for braking [10,23]. As SC technology continues to improve, the idealised SC model should become an ever more accurate approximation.…”

Section: Idealised Slip Controlmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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'Slip control' braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle's directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, 'attenuated slip demand' (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.

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Section: Idealised Slip Controlmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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“…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. 22 Force derivative based methods for WSR were proposed by Vignati and Sabbioni 11 and Capra et al, 14 which required wheel force sensing. First order actuator dynamics have been considered without any brake actuator controller.…”

Section: Introductionmentioning

confidence: 99%

“…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. A proportional-integral-derivative (PID) controller for brake actuator dynamics of an HCRV was proposed by Sridhar et al 24 Considering the attributes of various studies in literature, the following limitations were identified:…”

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:

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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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“…Lee et al 12 also employed HiL simulation to simulate and evaluate an anti-lock brake system (ABS) algorithm developed for a bus. 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.…”

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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Extremum-seeking algorithms for the emergency braking of heavy goods vehicles

Cited by 9 publications

References 18 publications

Combined emergency braking and turning of articulated heavy vehicles

Combined emergency braking and turning of articulated heavy vehicles

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

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

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