Abstract
In this paper, Sliding Mode Controller (SMC) is proposed to enhance Anti-Lock Brake System (ABS) performance. To verify SMC performance, a real-time Hardware in the loop simulation has been created with a hydraulic brake line. Therefore, the hydraulic brake model and vehicle model should be properly set up to acquire exact simulation results. In addition, the experiment results are compared with that of the commercial ABS with ECU only, and verified how much the performance is improved. The control strategy is to follow the target slip ratio by means of sliding mode controller and secure the vehicle stability while the vehicle braking on various road conditions, such as dry road, wet road, icy road and even split road condition. The driver model is useless on the uniform slip ratio of a straight road. However, the split road has to adopt the driver model. The split road condition has a different slip ratio at each wheel, causing the vehicle to spin out. Test results show that ABS with sliding mode controller has better performance than existing ABS and also ensures improved vehicle stability. Furthermore, the test result on the split road shows how the vehicle will follow the desired path with the driver model and hold the target slip ratio.
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Abbreviations
- A :
-
area of master cylinder (m2)
- f r :
-
rolling resistance coefficient
- F D :
-
aerodynamic drag force (N )
- I w :
-
moment of inertia of wheel (kgm2)
- T b :
-
brake torque (Nm)
- T t :
-
tire traction torque (Nm)
- T roll :
-
tire rolling resistance torque (Nm)
- T eng :
-
output torque of transmission (Nm)
- R w :
-
wheel radius (m)
- R b :
-
distance from center of wheel to brake path
- P M :
-
pressure of a master cylinder by the driver (N/m2)
- P 0 :
-
pressure at previous sampling step (N/m2)
- ω :
-
wheel angular velocity (rad/sec)
- ɛ :
-
lateral offset of the vehicle from the desired path
- θ :
-
wheel angle (radian)
- δ :
-
steering angle of wheel
- γ :
-
yaw angle of vehicle body
- λ d :
-
desired tire slip ratio
- λ s :
-
current tire slip ratio
- Φ :
-
thickness of boundary layer
- b :
-
Brake
- t :
-
Tire
- x, y, z :
-
Longitudinal, Lateral, Normal
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Yun, D., Kim, H. & Boo, K. Brake performance evaluation of ABS with sliding mode controller on a split road with driver model. Int. J. Precis. Eng. Manuf. 12, 31–38 (2011). https://doi.org/10.1007/s12541-011-0004-0
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DOI: https://doi.org/10.1007/s12541-011-0004-0