ABS control design based on wheel-slip peak localization

Author

Chikhi, F. ; El Hadri, A. ; Cadiou, J.C.

Author_Institution

Lab. de Robotique de Versailles, Versailles Univ., Velizy, France

fYear

2005

fDate

23-25 June 2005

Firstpage

73

Lastpage

77

Abstract

The optimal control for anti-lock system proposed in this paper consists to search the wheel slip corresponding to the maximum of the tyre-road characteristic curve. This allows maximising the braking tyre forces. In this strategy of control the wheel slip is not imposed but used an algorithm to generated desired optimal wheel sleep. This algorithm is based on a nominal Pacejka tyre model which uses two parameters to give an updated of the tyre model with respect to the real tyre force characteristic. The proposed control method is verified through one-wheel simulation model with a "magic formula" tyre model. Simulations results show the effectiveness of this controller scheme.

Keywords

brakes; control system synthesis; optimal control; slip; tyres; velocity control; wheels; ABS control design; antilock braking systems; braking tire forces; magic formula tyre model; nominal Pacejka tyre model; one-wheel simulation; optimal control; sliding mode control; tire-road characteristic curve; wheel-slip peak localization; Control design; Control systems; Force control; Optimal control; Roads; Sliding mode control; Space vehicles; Tires; Vehicle dynamics; Wheels; Anti-lock Braking Systems; Optimal control; Sliding mode control; Tyre forces;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201404

Filename

1554383