Integrated Slip-Based Torque Control of Antilock Braking System for In-Wheel Motor Electric Vehicle

Chiang, Wen Po; Yin, Dejun; Omae, Manabu; Shimizu, Hiroshi

doi:10.1541/ieejjia.3.318

Cited by 14 publications

(5 citation statements)

References 22 publications

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“…Vários trabalhos têm focado em controle híbrido de freio motor e freio de fricção, como é o caso e Satzger et al (2016), nos quais o controle é feito pela minimização de uma função custo que tem como referência o deslizamento e torque a ser aplicado efetivamente nas rodas. Deslizamento de referência também é utilizado em Chiang et al (2014) 2017) utilizam a medida da desaceleração para criar ciclos de torques de frenagens nos trens de pouso, já sendo observado o uso das medidas de desaceleração para o controle do torque de frenagem na roda.…”

Section: Introdu ç ãOunclassified

Controle Preditivo da Frenagem de um Monociclo em Terreno Desconhecido

Pinto

Ferreira

Meggiolaro

et al. 2021

Procedings Do XV Simpósio Brasileiro De Automação Inteligente

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Braking systems that prevent wheel locking are employed in both land and air vehicles. This work develops a control that avoids the locking of the wheels during braking. For this purpose, a slip control was carried out for the case where there is only the longitudinal movement of the unicycle. The slip, calculated from the states (longitudinal speed of the vehicle and angular speed of the wheel), is compared to a reference slip, which is updated through the feedback of the states and torque. The control uses the Nonlinear Model Predictive Control (NMPC) strategy, considering the system restrictions. Finally, performance cost functions were calculated to validate the results obtained in the control. Resumo: Sistemas de frenagem que evitam o travamento da roda são empregados tanto em veículos terrestres quanto aéreos. Este trabalho desenvolve um controle que evita o travamento das rodas durante uma frenagem em movimento apenas longitudinal de um modelo de monociclo por meio do controle do deslizamento entre a roda e o solo. O deslizamento, calculado por meio dos estados (velocidade longitudinal do veículo e velocidade angular da roda), é comparado a um deslizamento de referência, este sendo atualizado por meio do feedback dos estados e do torque. O controle utiliza a estratégia do Nonlinear Model Predictive Control (NMPC), comportando as restrições do sistema. Por fim, funções de custo de performance foram calculadas para validar os resultados obtidos do controle.

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Section: Introdu ç ãOunclassified

Controle Preditivo da Frenagem de um Monociclo em Terreno Desconhecido

Pinto

Ferreira

Meggiolaro

et al. 2021

Procedings Do XV Simpósio Brasileiro De Automação Inteligente

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“…Previously, a regenerative braking and hydraulic braking torque distribution strategy based on the characteristics of the brake system under the premise of ensuring stability of the vehicle when braking, has been proposed [7]. Similarly, to recover more braking energy, a braking torque distribution control algorithm, which transferred the available maximum braking torque for the motor output to the braking process and supplemented the remaining required braking torque by the hydraulic system, was proposed in [8]. A brake torque distribution strategy adopting compensation control to improve the efficiency of energy recovery by analyzing the difference between the dynamic characteristics of the hydraulic brake system and the regenerative braking system was proposed in [9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Coordinated Control for Regenerative Braking System and Anti-Lock Braking System for Electrified Vehicles Under Emergency Braking Conditions

Yang

Tang

et al. 2020

IEEE Access

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The economy of electrified vehicles can be improved by using the motor to recover the energy released during braking. However, the vehicle's regenerative braking system (RBS) and anti-lock braking system (ABS) are not compatible, so the energy dissipated during braking cannot be recovered under emergency braking conditions. This paper employs the method of logic threshold control combined with phase plane theory to analyze the relationship between the slip rate and the braking torque during the ABS braking process and to obtain the composition rule of the braking torque required for ABS braking. Based on this rule, a control strategy to coordinate RBS and ABS when triggering ABS is proposed to improve the efficiency of braking energy recovery. Furthermore, a comparative simulation is conducted to analyze the braking performance of electrified vehicle on roads with different adhesion coefficients by adopting the proposed control strategy and the traditional control strategy. The results show that, compared with the traditional coordinated control strategy, the braking energy recovery efficiency of the proposed coordinated control strategy is improved by 23.08%-38.54%, and can effectively shorten the braking distance and braking time, with better braking performance. Therefore, this paper offers a useful theoretical reference to the design of RBS and ABS coordinated control strategies for electrified vehicles. INDEX TERMS Anti-lock braking system, Coordinated control strategy, Energy recovery, Regenerative braking.

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“…Energies 2020, 13, 5437 2 of 28 (iv) Longitudinal motion control: This is the objective of this paper. Longitudinal motion control (LMC) of EV can be summarized by three main groups in Table 1, namely, (I) slip ratio control [10][11][12][13][14][15][16][17], (II) anti-slip control [18][19][20][21][22], and (III) driving force control [23][24][25][26]. In recent years, an uptrend has been observed in the number of IWM actuators installed to the vehicle body.…”

Section: Introductionmentioning

confidence: 99%

Longitudinal Modelling and Control of In-Wheel-Motor Electric Vehicles as Multi-Agent Systems

Nguyen

et al. 2020

Energies

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This paper deals with longitudinal motion control of electric vehicles (EVs) driven by in-wheel-motors (IWMs). It shows that the IWM-EV is fundamentally a multi-agent system with physical interaction. Three ways to model the IWM-EV are proposed, and each is applicable to certain control objectives. Firstly, a nonlinear model with hierarchical structure is established, and it can be used for passivity-based motion control. Secondly, a linearized model with rank-1 interconnection matrix is presented for stability analysis. Thirdly, a time-varying state-space model is proposed for optimal control using linear quadratic regulator (LQR). The proposed modellings contribute the new understanding of IWM-EV dynamics from the view point of multi-agent-system theory. By choosing the suitable control theory for each model, the complexity level of system design is maintained constant, no matter what the number of IWMs installed to the vehicle body. The effectiveness of three models and their design approaches are discussed by several examples with Matlab/Carsim co-simulator.

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Integrated Slip-Based Torque Control of Antilock Braking System for In-Wheel Motor Electric Vehicle

Cited by 14 publications

References 22 publications

Controle Preditivo da Frenagem de um Monociclo em Terreno Desconhecido

Controle Preditivo da Frenagem de um Monociclo em Terreno Desconhecido

Dynamic Coordinated Control for Regenerative Braking System and Anti-Lock Braking System for Electrified Vehicles Under Emergency Braking Conditions

Longitudinal Modelling and Control of In-Wheel-Motor Electric Vehicles as Multi-Agent Systems

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