Robust control for an electro-mechanical anti-lock braking system: the CRONE approach

Benine-Neto, André; Moreau, Xavier; Lanusse, Patrick

doi:10.1016/j.ifacol.2017.08.2198

Cited by 12 publications

(10 citation statements)

References 10 publications

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“…The robust fractional order controller (CRONE) has low sensitivity to noise and good robustness to challenges, such as parameter uncertainty, nonlinearity, and disturbance. Although the vehicle velocity and speed are variable, the wheel load and road adhesion coefficient are also changed, the ABS controller designed by CRONE can still accurately track the reference of wheel speed [76].…”

Section: Other Control Methodsmentioning

confidence: 99%

Review on the Development, Control Method and Application Prospect of Brake-by-Wire Actuator

Gong

Yan

et al. 2020

Actuators

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This paper reviews and summarizes the development, key technologies, and application of brake-by-wire (BBW) actuators. BBW is the technology orientation of future vehicle brake system. The main feature of BBW is to replace some of the mechanical and hydraulic components of traditional brake system with electronic control components, and use cables and wires to transmit energy and signals. BBW actuators have outstanding advantages, such as fast response, accurate control, and compact structure. They are easy to integrate with active safety functions and they are easily matched with the regenerative braking systems of electric vehicle. First, this paper summarizes the classification, characteristics, performance, and architecture of BBW actuators. Subsequently, the braking process regulation of vehicle is considered to be the main target, which is summarized from two aspects of actuator regulation and braking force distribution. The state estimation algorithm and control algorithm applied to these actuators are summarized and analyzed, and the development trend, challenges, and schemes of the braking force distribution are proposed. The development and research trend of braking force match strategies between the regenerative brake system and BBW system are also analyzed and summarized. The further electrification and intelligence of vehicle demand BBW's braking force control method and distribution method must have higher control accuracy, stronger robustness, and wider adaptability, and the effects on braking comfort and handling stability must be further discussed.Actuators 2020, 9, 15 2 of 24 new features [2,3]. The additional functions, such as ABS and ESP, require additional devices, such as high-speed solenoid valves, oil return pumps, and return lines. Therefore, the structure of hydraulic brake system is becoming increasingly complex, and the maintenance is also becoming more and more difficult [4,5]. At present, new energy vehicles, such as electric vehicles (EV), hybrid electric vehicles (HEV), and fuel cell electric vehicles (FCEV), are developing rapidly and are highly concerned by major automotive manufacturers. However, most electric vehicles still use hydraulic brake system. On the one hand, the electric vehicles cannot use vacuum boosters to provide auxiliary force. The electric hydraulic pump must first be used to increase the hydraulic pressure, and then delivers the high pressure to each wheel. The electric energy needs to be converted and then transmitted multiple times in this process, so the energy utilization efficiency is not high, and there is the potential danger of brake fluid leakage. On the other hand, the hydraulic brake system cannot accurately and independently regulate the braking force, so it cannot be well matched with the regenerative brake system of EV and HEV [6].Actuators 2020, 9, 15 2 of 24 hydraulic brake system is becoming increasingly complex, and the maintenance is also becoming more and more difficult [4,5]. At present, new energy vehicles, such as electric vehicles (EV)...

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Section: Other Control Methodsmentioning

confidence: 99%

Review on the Development, Control Method and Application Prospect of Brake-by-Wire Actuator

Gong

Yan

et al. 2020

Actuators

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“…World Electric Vehicle Journal 2019, 10, x FOR PEER REVIEW 2 of 15 process can be regulated more flexibly than with a hydraulic system [9]. At present, many researchers are studying how to optimize the structure of the BBW actuator and to improve the performance of the controller.…”

Section: Structure and Principle Of The Ddehbmentioning

confidence: 99%

“…The mechanical/hydraulic connections between pedal and wheel actuator are replaced by signal and power cable in the BBW system, and the wheel actuators are driven independently by motors. Thus, the braking force of every wheel can be independently adjusted and changed, and the braking 2 of 16 process can be regulated more flexibly than with a hydraulic system [9]. At present, many researchers are studying how to optimize the structure of the BBW actuator and to improve the performance of the controller.…”

Section: Introductionmentioning

confidence: 99%

Research on the Anti-Disturbance Control Method of Brake-by-Wire Unit for Electric Vehicles

Gong

Qian

Wang

2019

WEVJ

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In order to improve the braking performance of electric vehicles, a novel brake-by-wire actuator based on an electro-magnetic linear motor was designed and manufactured. For the purpose of braking force regulation accuracy and high robust performance, the state observer and the anti-disturbance controller were designed in this paper after describing the actuator structure, braking principle, and mathematical model. The simulation and experimental results showed that the brake actuator responded rapidly, since its response time was only 15 ms. Compared to traditional PID (Proportion Integration Differentiation) methods, the controller proposed in this paper is able to regulate the braking force more precisely and has better anti-disturbance performance, thus the braking process can be accurately controlled according to the driver’s demand. The vehicle simulation results showed that the braking distance and braking time were shortened by 12.19% and 15.54%, respectively compared with those of the conventional anti-lock brake system (ABS) in the same braking conditions.

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“…The selected EMB brake transmission mechanism consists of three parts: DC brushless servo motor, planetary gear, and ball screw. [24][25][26][27] EMB model DC motor model. Based on the electromagnetic characteristics, the DC motor formula is defined as…”

Section: Emb Modeling and Verificationmentioning

confidence: 99%

Electromechanical composite brake control for two in-wheel motors drive electric vehicle with single motor failure

Zhang

Pang

Wang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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To solve the security control problem of two in-wheel motors front-drive electric vehicles with single motor failure, an electromechanical composite brake control method based on the normal working motor and the electromechanical brake systems is proposed. First, the electromechanical brake system model is established and the brake characteristics is verified by bench test. Then, based on the electric vehicle model and the in-wheel motors model that has been verified by a vehicle test, the instability mechanism of the vehicle with single motor failure is analyzed. Next, taking the yaw rate and the side-slip angle as the state variables, an in-loop controller based on model predictive control theory is designed; taking the yaw angle as the state variable, an outer-loop controller based on fuzzy proportional integral derivative control theory is designed. Finally, the expected stability control is achieved by the distribution of four-wheel brake torque. According to the research, compared with the simple drive motor torque following and motor regenerative brake control, the electromechanical composite brake control can enable the vehicle to offset the effects of instability torque more quickly, so that the vehicle can follow the expected motion trajectory basically and improve the vehicle stability.

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Robust control for an electro-mechanical anti-lock braking system: the CRONE approach

Cited by 12 publications

References 10 publications

Review on the Development, Control Method and Application Prospect of Brake-by-Wire Actuator

Review on the Development, Control Method and Application Prospect of Brake-by-Wire Actuator

Research on the Anti-Disturbance Control Method of Brake-by-Wire Unit for Electric Vehicles

Electromechanical composite brake control for two in-wheel motors drive electric vehicle with single motor failure

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