Flow-valve modelling and wheel-slip control for an automotive hydraulic anti-lock braking system

Abstract

Flow-valve modelling and wheel-slip control are investigated for an automotive hydraulic braking system which uses flow valves to supply brake fluid into the wheel cylinder and on/off valves to exhaust the brake fluid. First, the model of the flow valve is built using an experiment method, since its mechanism is difficult to analyse. Furthermore, because of the intrinsic difference between the two distinct valves, a special control problem is raised concerning how to realize wheel-slip control by using a unified strategy. Considering the essential characteristics of the two valves, a hybrid control approach, which contains an ordinary, continuous, state feedback function and a supervisory logic rule, is explored. Then, one feasible solution is obtained based on Lyapunov theory in the Filippov framework, so that the convergence of the control system is strictly guaranteed in theory. The controller has few tuning parameters and it is simple to tune. Illustrative hardware-in-the-loop simulation tests are carried out. The results show that both braking efficiency and ride quality are achieved, even if there are errors in the actuator control as well as in estimation of vehicle speed.

Keywords

flow-valve modelling wheel-slip control anti-lock braking system Lyapunov method hardware-in-the-loop simulation

Get full access to this article

View all access options for this article.

References

Bosch

Bosch automotive handbook, 1993 (Society of Automotive Engineers, Warrendale, Pennsylvania).

Kuo

C. Y.

Yeh

E. C.

A four-phase control scheme of an anti-skid brake system for all road conditions. Proc. IMechE, Part D: J. Automobile Engineering, 1992, 206(4), 275–283.

Wellstead

P. E.

Pettit

Analysis and redesign of an antilock brake system controller. IEE Proc. Contr. Theor. Applic., 1997, 144(5), 413–426.

Morselli

Zanasi

Self-tuning control strategy for antilock braking systems. In Proceedings of the American Control Conference, Minneapolis, MN, 14–16 June 2006, pp. 5861–5866.

Pasillas-Lepine

Hybrid modeling and limit cycle analysis for a class of five-phase anti-lock brake algorithms. Veh. Syst. Dyn., 2006, 44(2), 173–188.

Johansen

T. A.

Petersen

Kalkkuhl

Ludemann

Gain-scheduled wheel slip control in automotive brake systems. IEEE Trans. Contr. Syst. Technol., 2003, 11(6), 799–811.

Tanelli

Astolfi

Savaresi

Robust nonlinear output feedback control for brake-by-wire control systems. Automatica, 2008, 44(4), 1078–1087.

Song

Kim

Boo

A study on an antilock braking system controller and rear-wheel controller to enhance vehicle lateral stability. Proc. IMechE, Part D: J. Automobile Engineering, 2007, 221(7), 777–787.

Shim

Chang

Lee

Investigation of sliding-surface design on the performance of sliding mode controller in antilock braking systems. IEEE Trans. Veh. Technol., 2008, 57(2), 747–759.

10.

Jing

H. H.

Liu

Z. Y.

Chen

Testing and modeling of vehicular hydraulic braking system with linear solenoid valves. In Proceedings of the International Conference on Test and measurement, Phuket, Thailand, 1–2 December 2010, pp. 693–696.

11.

Raza

Yang

Ioannou

P. A.

Modeling and control design for a computer-controlled brake system. IEEE Trans. Contr. Syst. Technol., 1997, 5(3), 279–296.

12.

Choi

Cho

D. W.

Control of wheel slip ratio using sliding mode controller with pulse width modulation. Veh. Syst. Dyn., 1999, 32(4), 267–284.

13.

M. C.

Shih

M. C.

Hydraulic anti-lock braking control using the hybrid sliding-mode pulse width modulation pressure control method. Proc. IMechE, Part I: J. Systems and Control Engineering, 2001, 215(2), 177–187.

14.

Youa

S. H.

Hahn

B. O.

Choa

Y. M.

Lee

Modeling and control of a hydraulic unit for direct yaw moment control in an automobile. Contr. Engng Pract., 2006, 14(9), 1011–1022.

15.

Rao

Bone

Nonlinear modeling and control of servo pneumatic actuators. IEEE Trans. Contr. Syst., 2008, 16(3), 562–569.

16.

Aleksendric

Duboka

Mariotti

G. V.

Neural modelling of friction material cold performance. Proc. IMechE, Part D: J. Automobile Engineering, 2008, 222(7), 1201–1209.

17.

Olson

B. J.

Shaw

S. W.

Stepan

Nonlinear dynamics of vehicle traction. Veh. Syst. Dyn., 2003, 40(6), 377–399.

18.

Akasaka

Liu

K. Z.

Stabilization of a class of on-off control systems by nonlinear state feedback. In Proceedings of the European Control Conference, Kos, Greece, 2–5 July 2007, pp. 667–672.

19.

Akasaka

Liu

K. Z.

Nonlinear output feedback control for linear systems with input saturation. In Proceedings of the IFAC World Congress, Seoul, Korea, 6–11 July 2008, pp. 15154–15159.

20.

Filippov

A. F.

Differential equations with discontinuous righthand sides, 1988 (Kluwer Academic Publishers, Dordrecht, the Netherlands).

21.

Shevitz

Paden

Lyapunov stability theory of nonsmooth systems. IEEE Trans. Autom. Contr., 1994, 39(9), 1910–1914.

22.

Song

C. K.

Uchanski

Vehicle speed estimation using accelerometer and wheel speed measurements. SAE paper 2002-01-2229, 2002.

23.

Liu

Z. Y.

J. B.

Chen

Study on real-time simulation system of vehicle dynamics via ve-DYNA. In Proceedings of the 2006 Vehicular Electronics and Safety Conference, Beijing, China, 13–15 December 2006, pp. 454–458.

24.

Jiang

Gao

An adaptive nonlinear filter approach to the vehicle velocity estimation for ABS. In Proceedings of the IEEE CCA/CACSD Conference, Anchorage, AK, 25–27 September 2000, pp. 490–495.

25.

Jing

H. H.

Liu

Z. Y.

Chen

A switched control strategy for anti-lock braking system with on/off valves. IEEE Trans. Veh. Technol., 2011, 60(4), 1470–1484.