A Grey Sliding Mode Controller Design for Antilock Braking System

2007 ◽  
Author(s):  
Yesim Oniz ◽  
Erdal Kayacan ◽  
Okyay Kaynak
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Grey System Theory ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Grey System ◽  
Wheel Slip ◽  
Braking System ◽  
Antilock Braking System ◽  
Antilock Braking

The main control objective of an Antilock Braking System (ABS) is to increase the tractive forces between wheel and road surface by keeping the wheel slip at the peak value of μ – λ curve. Conventionally, it is assumed that optimal wheel slip is constant. In this paper, a grey sliding mode controller is proposed to regulate optimal wheel slip depending on the vehicle forward velocity. ABS exhibits strongly nonlinear and uncertain characteristics. To overcome these difficulties, robust control methods should be employed. The concept of grey system theory, which has a certain prediction capability, offers an alternative approach to conventional control methods. The proposed controller anticipates the upcoming values of wheel slip and optimal wheel slip, and takes the necessary action to keep wheel slip at the desired value. The control algorithm is applied to a quarter vehicle model, and it is verified through simulations indicating fast convergence and good performance of the designed controller.

Bond graph model-based evaluation of a sliding mode controller for a combined regenerative and antilock braking system

2011 ◽  
Vol 225 (7) ◽  
pp. 918-934 ◽  
Author(s):  
T K Bera ◽  
K Bhattacharya ◽  
A K Samantaray
Keyword(s):  
Load Transfer ◽  
Sliding Mode ◽  
Graph Model ◽  
Bond Graph ◽  
Sliding Mode Controller ◽  
Wheel Slip ◽  
Control Laws ◽  
Braking System ◽  
Antilock Braking System ◽  
Antilock Braking

Combined regenerative and antilock braking in electric/hybrid-electric vehicles provides higher safety in addition to an energy storing capability. Development of a control law for this type of braking system is a challenging task. The antilock braking system (ABS) uses a control strategy to maintain the wheel slip within a predefined range. A sliding mode controller (SMC) for ABS is developed to maintain the optimal slip value. The braking of the vehicle, performed by using both regenerative and antilock braking, is based on an algorithm that decides how to distribute the braking force between the regenerative braking and the antilock braking in emergency/panic braking situations as well as in normal city driving conditions. Detailed bond graph models of a quarter car and four-wheeled vehicles are used in this article to implement and test the control laws. It is found that with combined regenerative and antilock braking, the vehicle’s safety increases (in terms of stopping distance and manoeuvrability) and some amount of kinetic energy can be recovered and stored in the regenerative battery pack. The passenger comfort is improved when a sliding mode ABS controller is used in place of a standard ABS controller for the mechanical braking part. Moreover, the influence of load transfer on the wheels during braking was evaluated on a four-wheeled vehicle model.

Adaptive Fuzzy Fractional-Order Sliding Mode Controller Design for Antilock Braking Systems

2016 ◽  
Vol 138 (4) ◽  
Author(s):  
Yinggan Tang ◽  
Ying Wang ◽  
Mingyu Han ◽  
Qiusheng Lian
Keyword(s):  
Fractional Order ◽  
Fuzzy Logic Controller ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Antilock Braking System ◽  
Antilock Braking

Antilock braking system (ABS) has been designed to attain maximum negative acceleration and prevent the wheels from locking. Many efforts had been paid to design controller for ABS to improve the brake performance, especially when road condition changes. In this paper, an adaptive fuzzy fractional-order sliding mode controller (AFFOSMC) design method is proposed for ABS. The proposed AFFOSMC combines the fractional-order sliding mode controller (FOSMC) and fuzzy logic controller (FLC). In FOSMC, the sliding surface is PDα, which is based on fractional calculus (FC) and is more robust than conventional sliding mode controllers. The FLC is designed to compensate the effects of parameters varying of ABS. The tuning law of the controller is derived based on Lyapunov theory, and the stability of the system can be guaranteed. Simulation results demonstrate the effectiveness of AFFOSMC for ABS under different road conditions.

scholarly journals Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2501 ◽  
Author(s):  
Jinhong Sun ◽  
Xiangdang Xue ◽  
Ka Wai Eric Cheng
Keyword(s):  
Controller Design ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Rolling Friction ◽  
Resistance Force ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Braking System ◽  
Wheel Rolling ◽  
Braking Torque

With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel slip ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideration of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel slip ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.

scholarly journals Robust Wheel Slip for Vehicle Anti-lock Braking System with Fuzzy Sliding Mode Controller (FSMC)

2020 ◽  
Vol 10 (5) ◽  
pp. 6368-6373
Author(s):  
S. Latreche ◽  
S. Benaggoune
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Wheel Slip ◽  
Ground Vehicle ◽  
Strongly Nonlinear ◽  
Braking System ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
New Strategies

Anti-lock Braking System (ABS) is used in automobiles to prevent slipping and locking of wheels after the brakes are applied. Its control is a rather complicated problem due to its strongly nonlinear and uncertain characteristics. The aim of this paper is to investigate the wheel slip control of the ground vehicle, comprising two new strategies. The first strategy is the Sliding Mode Controller (SMC) and the second one is the Fuzzy Sliding Mode Controller (FSMC), which is a combination of fuzzy logic and sliding mode, to ensure the stability of the closed-loop system and remove the chattering phenomenon introduced by classical sliding mode control. The obtained simulation results reveal the efficiency of the proposed technique for various initial road conditions.

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