Mixed Slip-Deceleration Control in Automotive Braking Systems
- 10 July 2006
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 129 (1), 20-31
- https://doi.org/10.1115/1.2397149
Abstract
In road vehicles, wheel locking can be prevented by means of closed-loop anti-lock braking systems (ABS). Automatic braking is extensively used also for electronic stability control (ESC) systems. In braking control systems, two output variables are usually considered for regulation purposes: wheel deceleration and wheel longitudinal slip. Wheel deceleration is the controlled output traditionally used in ABS, since it can be easily measured with a simple wheel encoder; however, the dynamics of a classical regulation loop on the wheel deceleration critically depend on the road conditions. A regulation loop on the wheel longitudinal slip is simpler and dynamically robust; moreover, slip control is perfectly suited for both ABS and ESC applications. However, the wheel-slip measurement is critical, since it requires the estimation of the longitudinal speed of the vehicle body, which cannot be directly measured. Noise sensitivity of slip control hence is a critical issue, especially at low speed. In this work a new control strategy called mixed slip-deceleration (MSD) control is proposed: the basic idea is that the regulated variable is a convex combination of wheel deceleration and longitudinal slip. This strategy turns out to be very powerful and flexible: it inherits all the attractive dynamical features of slip control, while providing a much lower sensitivity to slip-measurement noise.Keywords
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