Modeling,identification,and controller design for hydraulic anti-slip braking system

Abstract

This study modeled and identified the hydraulic subsystem of an anti-slip braking system using input–output data of experiments on a test car. A simulation was prepared based on the results of the identification process, and it was validated by comparing the simulation results with those of the experimental tests. A novel control approach is introduced to obtain the optimal slip ratio during braking. This method does not require vehicle longitudinal velocity for the control algorithm but requires information about the road condition (dry, wet, etc.). An online identification algorithm to detect the road condition is introduced. The main benefits of the proposed control system in comparison with previous versions are improving the braking performance, simplicity of the control strategy, and considering the operational constraints which facilitate the control system implementation. The simulation and hardware-in-the-loop experimental results demonstrated the success of the modeling, identification, and proposed control approach.