Vehicle stability enhancement by a robust cascade control of the brake system

Author

Rodonyi, Gabor ; Gaspar, Peter ; Bokor, Jozsef

Author_Institution

Syst. & Control Lab., Comput. & Autom. Res. Inst., Budapest, Hungary

fYear

2007

fDate

2-5 July 2007

Firstpage

638

Lastpage

643

Abstract

In the paper the road holding of a heavy vehicle is improved by using unilateral braking. The goal of the control design is to reduce the effect of the lateral acceleration of the vehicle, when it exceeds a predefined critical limit. The safety critical requirements motivate the application of robust control theory. The design problem is solved by a three-level cascade control with H_∞ controllers on each level. The actuator dynamics of the brake system, the wheel dynamics and the nonlinear tire adhesion characteristics are taken into consideration. The effectiveness of the method is demonstrated through an overtaking maneuver.

Keywords

H^∞ control; acceleration control; actuators; brakes; cascade control; control system synthesis; mechanical stability; motion control; nonlinear control systems; road safety; road vehicles; robust control; tyres; vehicle dynamics; wheels; H∞ controllers; actuator dynamics; brake system; control design; heavy vehicle; lateral acceleration; nonlinear tire adhesion characteristics; overtaking maneuver; predefined critical limit; road holding; robust cascade control; safety critical requirements; three-level cascade control; unilateral braking; vehicle stability enhancement; wheel dynamics; Acceleration; Actuators; Dynamics; Mathematical model; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068821