Four-Wheel Anti-Lock Braking System With Robust Adaptation Under Complex Road Conditions

Abstract

The anti-lock braking system(ABS) research based on wheel slip control(WSC) is the classical method and can be found in the literature for almost all automobile braking applications. Despite the significant progress of ABS that has taken place over the last few years, with the recent high demand in autonomous driving, smart control, and electric vehicle, new issues that constitute an open topic for research emerge. Among them, robustness of the braking performance under complex road conditions, the steady-state performance, and reduction of the tracking error are topics of interest that require further study, especially for designing vehicle's four-wheel ABS. This paper aims to propose a four-wheel braking control strategy based on the intelligent FSM-WSC method. The dynamic models under complex braking situations are firstly built including the important issues of the transition of road conditions, the split-road conditions between the left-side wheels and the right-side wheels, even the extreme situation in which road conditions of each wheel are different. To demonstrate control performance, substantial simulation results are analyzed and examined. Finally, performance discussion is presented and it forms a future ABS control and model. Index Terms-anti-lock braking system(ABS), wheel slip control(WSC), fuzzy sliding mode(FSM), four-wheel ABS, complex road conditions.

Design, Analysis and Application of Single-Wheel Test Bench for All-Electric Antilock Braking System in Electric Vehicles

“…r wb ω wb = r rb ω rb (9) where v wb represents the circumferential velocity of the wheel, v rb the circumferential velocity of the roller, r wb the radius of the wheel, and r rb the radius of the roller. Consequently, Equation ( 6) can be changed as…”

“…The developed prototype of the single-wheel all-electric ABS test bench is shown in Figures 3 and 4, in which 1 is the force sensor, 2 the shock absorber, 3 the hub support, 4 the wheel, 5 the electromechanical brake (EMB), 6 the flywheel, 7 the force actuation unit, 8 the braking disc, 9 the flywheel, Energies 2021, 14, x FOR PEER REVIEW 7 of 12 = 0.5 + 0.5 + 0.5 + 0.5 (10) The wheel in the proposed test bench is the same as the wheel of the real vehicle. Thus, the moment of inertia of the vehicle wheel is equal to that of the wheel in the test bench, expressed as = (11) Furthermore, the longitudinal vehicle velocity is equal to the circumferential velocity of the roller in the test bench.…”

“…Among published research on the antilock braking systems, concern about the ABS algorithms has dominated. Consequently, various ABS methods were proposed in publications to improve ABS performances: Guo proposed the fuzzy logic control for ABS [1], Cabrera et al proposed the fuzzy logic control including two fuzzy controllers for the wheel slip control [2], Shim et al proposed the new sliding-surface design to improve convergence speed and oscillation damping around the optimal wheel slip [3], Patil et al developed two ABS controllers based on the uncertainty estimation to maintain the wheel slip at the optimal wheel slip [4], the fuzzy sliding mode controller was proposed to implement the wheel slip control in [5], the directly maximizing methods of the adhesion coefficient/force [6], the rules-based logic control method [7], the coupling control method [8], the four-wheel ABS method [9], and the reference [10] describes modeling and simulation of the vehicle physical model. However, the demonstration and examination of those ABS methods were implemented by means of simulation or commercial software.…”

“…Generally, the information provided by the ABS simulation in the computer environment is neither sufficient nor precise. Taking into account unpredictable factors in the real environment, such as internal and external disturbances, it is possible that the ABS may operate in an unexpected way, making the performance of the ABS method unacceptable [9,10]. On the other hand, the ABS test on real full-sized vehicles on real roads results in high cost and is time-consuming.…”

A Study on the Vehicle Antilock System Based on Adaptive Neural Network Sliding Mode Control

“…Fu [19] proposed a variable domain fuzzy PID control strategy based on particle swarm optimization algorithm on a seven-degree-of-freedom vehicle model to safeguard the braking effect of automotive ABS. Sun et al [20] introduced a four-wheel ABS based on fuzzy sliding mode control, and the control performance was verified by multiple braking simulations and joint simulations under complex road conditions [21]. The improved adaptive sliding mode controller realized the effective control of the optimal slip ratio by taking distributed drive electric vehicle as the research object, and the studied control method can effectively estimate and control the optimal slip rate under various complex road surfaces.…”