On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems

Reichensdörfer, Elias; Odenthal, Dirk; Wollherr, Dirk

doi:10.1109/tcst.2018.2880932

Cited by 22 publications

(9 citation statements)

References 53 publications

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“…Một số nghiên cứu liên quan đã được thực hiện như dùng bộ điều khiển kiểm soát lực ma sát giữa bánh xe và mặt đường để phân phối lực kéo cho phù hợp với điều kiện của đường [1][2][3]. Thiết kế bộ điều khiển lực kéo dựa trên động cơ theo phương pháp tuyến tính hóa đầu vào -đầu ra, bao gồm động lực học hệ thống truyền mô-men xoắn trên mô hình thiết kế của ô tô [4][5][6]. Hệ thống kiểm soát lực kéo gần đây cũng được áp dụng trên xe ô tô điện [7]…”

Section: Giới Thiệuunclassified

Application of Pid Method to Control Traction on the Vehicles Through Controlling the Brake Moment at the Two Driving Wheels

Phan

Ngo

Huynh

2022

tvujs

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A vehicle differential is a device that divides engine power between the two driving wheels and allows the wheels to rotate at different speeds when the vehicle moves on the road. The speed difference depends mainly on the grip between the wheels and the road surface. When the traction acting on both driving wheels is equal,the differential will distribute traction equally, helping the vehicle move stably on a straight road. However, if one of the two driving wheels rolls on a slippery road, the differential will distribute more engine power to this wheel. As a result, the vehicle’s motion is unstable, engine power is lost, the vehicle cannot move. To solvethe problem, using a limited-slip differential, an active differential or a traction control system is considered an optimal solution. This study uses the brake moment acting on the skidding wheel to redistribute the engine power at the two driving wheels and uses the PID method for traction control at the drive wheels. Survey results show the effectiveness of the designed controller.

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Section: Giới Thiệuunclassified

Application of Pid Method to Control Traction on the Vehicles Through Controlling the Brake Moment at the Two Driving Wheels

Phan

Ngo

Huynh

2022

tvujs

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“…Ye [13] implemented real-car experiments to test the effect of TCS in distributed electric drive. For cornering conditions, Elias [14] proposed a traction control strategy based on nonlinear observers with the consideration of longitudinal and lateral tire forces. Zhang [15] presented an integrated traction control strategy (ITCS) for distributed drive electric vehicles.…”

Section: Introductionmentioning

confidence: 99%

Practical active traction control for independent‐wheel‐drive electric vehicle based on slip‐ratio threshold determination

Wang

Gao

et al. 2023

Asian Journal of Control

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The traditional traction control system (TCS) based on hydraulic braking only works when the wheels are slipping, which will cause the problem of slow response to extreme slip. In addition, the TCS of four‐wheel‐independent‐drive electric vehicle (4WIDEV) is often based on road adhesion characteristics identification or optimal slip ratio identification to implement active control, which is difficult to achieve in engineering. Aiming at this problem, a practical active TCS is proposed in this paper. Firstly, according to the wheel slip state of the front and rear axles, the dynamic transfer of torque between axles is realized to maintain the vehicle propulsion power. Second, the adhesion conditions between road and tire are classified, and two sets of target slip ratio thresholds are formulated for high and low adhesion pavement, respectively. Then the current road adhesion coefficient is estimated by using the advantage that the in‐wheel motor torque can be obtained in real‐time. Thirdly, the overall framework of the control strategy is established, the logic threshold control algorithm is adopted for tracking the wheel target slip ratio. Finally, the simulation results show that the proposed active TCS can improve the vehicle power and avoid excessive wheel slipping.

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“…For example in [20], [21], the average slip ratio is defined as a control target and it is maintained in an optimal region using sliding mode control. Slippage dynamics can be also approximated [22], [23] and controlled applying an input-output linearizing feedback transformation [24].…”

Section: Introductionmentioning

confidence: 99%

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

Mottaghi¹,

Chhabra²,

Huang³

2022

Preprint

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<p>To reliably localize and control wheeled autonomous rovers, their controllers must keep the wheels away from traction loss. In this paper, we develop a fast and practical traction control system for rovers that track dynamic trajectories on rough firm terrains, leveraging their normally existing redundant control directions. Trajectory-tracking performance is guaranteed by input-output linearizing a nonholonomic model of the system and employing an appropriate stabilizing control law. We propose a novel methodology to optimally lift the control signals at the rover’s output level to determine the control actions that enhance the system’s traction without affecting the tracking performance. The methodology uses the knowledge of wheels’ friction coefficients and estimation of normal and tractive forces based on a nonholonomic rover model to optimally distribute the tractive forces among the wheels. The novelty is in redefining the optimization problem in both lateral and longitudinal directions that require minimum information about wheel-ground interactions and leads to linear optimality conditions. We define the notion of total required force/moment at system’s center of mass to (i) introduce reference directions for tractive forces in the proposed cost functions, and (ii) identify the rover wheels fighting against the motion. To prevent wheel-fighting, we find sub-optimal solutions that suppress tractive forces at the fighting wheels. The proposed traction control system is implemented on a six-wheel autonomous Lunar rover and its efficacy is investigated by a developed software-in-the-loop simulation environment using Vortex Studio. This software simulates a 3-dimensional digital twin of the system, with different terrain and tire model options. When compared to the conventional pseudo-inverse solution, the developed traction controller demonstrates improved overall traction and it saves the rover from traction loss.</p>

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On the Stability of Nonlinear Wheel-Slip Zero Dynamics in Traction Control Systems

Cited by 22 publications

References 53 publications

Application of Pid Method to Control Traction on the Vehicles Through Controlling the Brake Moment at the Two Driving Wheels

Application of Pid Method to Control Traction on the Vehicles Through Controlling the Brake Moment at the Two Driving Wheels

Practical active traction control for independent‐wheel‐drive electric vehicle based on slip‐ratio threshold determination

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

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