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. INTRODUCTION
At present, because of mainly based on the experience
logic threshold control, the widespread use of anti-lock
braking has difficulties in the choice of threshold, the
estimation of speed and the identification of road. And it is
need to carry out a large number of parameter match test for
different vehicle models. The control accuracy is not high
enough, the portrait wheel slip rate is not maintained in the
optimal slip rate in the entire control process in theory, but
fluctuates in the vicinity. It is failed to achieve the best
braking performance, the room to further shorten the
braking distance is small [1]. The optimal slip rate control
of Vehicle SBC (Sensotronic Brake Control) based on
variable pavement could estimate the attachment factor
between current tires and the road, determine the optimal
slip rate of the variable pavement for real-time control, keep
the portrait wheel slip rate maintain the optimal slip rate.
Compared to ABS, the braking distance has been further
shortened.
Vehicles and road systems constitute a complex
nonlinear dynamic systems, it is difficult to identify the
pavement by using traditional linear dynamic models such
as the slope rule, the vague rule and the threshold method.
This paper discusses the optimal slip rate estimation
question based on the model parameters, then controls the
vehicle under the optimal slip rate and gets good braking
performance.
Automotive SBC system is a nonlinear time-varying and
uncertain system, tire character changes in the scope of
large, and vehicles model is uncertain, so it is difficult to
. PAVEMENT RECOGNITION
Vehicle SBC system based on variable pavement needs
to estimate the real-time adhesion coefficient between
vehicle tires and the road surface and confirm the optimal
portrait slip rate of the variable pavement to implement
real-time control to keep the tire portrait slip rate
maintaining at the optimal slip rate, then the braking
distance will be the shortest.
A. Estimation of optimal slip rate
At present, general use of the tire models are simplified
u - s double linear model, Kiencke u - s model, Pacejka
u - s model, Burckhardt u - s model and so on. This
paper uses the optimal slip rate estimation based on
Kiencke u - s model, and the curve equation describes as
follows [2]
P (s)
Os
1
1 p1 s p 2 s 2
In (1), O is the slope of P s curve, and its value
usually preset at about 30, p1 and p 2 are the parameters
that need to be estimated.
From (1), by using the method of seek extremum, the
536
sopt
P opt
p2 2
O
p1 2 p 2
1
2
2
m
v
3
Tb
Os P ( s ) [ P ( s ) sP ( s) s 2 ][ p1 p 2 ]T 4
Fx
C2
C3
dry asphaltum
wet asphaltum
dry concrete
dry cobble
wet cobble
snow
ice
1.2801
0.857
1.1973
1.3713
0.4004
0.1946
0.05
23.99
33.822
25.168
6.4565
33.7080
94.129
306.39
0.52
0.347
0.5373
0.6691
0.1204
0.0646
0
NP
9
10
Fx
C1
Fx R Tb
In (8) to (10),
Pavement Types
Fx
Fx
v ZR
v
(11)
CC
1
ln 1 2 6
C2
C3
C
CC
u opt ( s opt ) C1 3 (1 ln 1 2 ) 7
C2
C3
By changing the value of the three parameters C1 , C2
and C3 to simulate different pavement conditions in the
s opt
hj
In (12),
537
exp(
|| G c j || 2
b 2j
) j 1
2
m 12
j and b j ! 0 .
h1
G1
w1
G2
h2
w2
wm
Gn
hm
wG (t ) G (t ) wTb (t )
16
wj
K
wTb (t ) ww j (t )
In (16), K is adaptive rate, and K ! 0 .
For
wG (t ) G (t )
wTb (t )
wTb (t )
ww j (t )
Pavement
Recognition
wj
RBF
Tb Vehicle
Model
Network
G (t ) ce(t ) e(t )
s
exp(
bG (t ) 17
|| G c j || 2
b 2j
) 18
JG (t ) exp(
|| G c j || 2
b 2j
JG (t )h j (G )
19
J is the
b and K , and
J ! 0.
w j (t )
B. Simulation result
In order to verify the feasibility of neural sliding mode
control algorithm in vehicle SBC system, according to the
vehicle model and controller model in this paper, using
simulation software to construct the vehicle SBC simulation
model, the main simulation parameters are as follows:
single wheel vehicle vertical load m 350kg , the
G (t )
ce(t ) e(t ) 13
e(t )
s opt (t ) s (t ) 14
In (13),
The output of the RBF network sliding mode controller
is the vehicle braking torque,
m
Tb
exp(
|| G c j || 2
b 2j
j 1
) 15
160km / h , wheel
G (t ) G (t ) 0 ,
v0
reachable condition
w j (t 1) w j K ( w j (t 1) w j (t 2))
20
In (15),
w G (t )
G (t )
wTb (t )
sopt
wG (t ) G (t )
K
ww j (t )
538
Speed/(km/h)
200
Vehicle Speed
Wheel Speed
150
100
50
0
3
Time/s
Adhesion coefficient
0.6
0.4
0.2
0
0.2
0.15
0.1
3
Time/s
3
Time/s
0.6
0.4
0.2
0
4
Time/s
200
150
Speed/km/h
Figure 5. Transformation curve between actual slip rate and optimal slip
rate
120
50
0
80
Vehicle Speed
Wheel Speed
100
100
4
Time/s
60
1
40
20
0
3
Time/s
Braking Distance/m
0.8
0.05
1
0.3
0
0
0.8
0.25
0.8
0.6
0.4
0.2
0
4
Time/s
Figure 10. Transformation curve between actual slip rate and optimal slip
rate
539
[2]
Braking Distance/m
150
100
50
4
Time/s
. CONCLUSION
During the braking processin the conditions of single
pavement and variable pavement. From Figures 4 and 9, we
can see that the actual slip rate tracks the optimal slip rate
well, and the braking distance and braking time is also very
short. The braking distance and braking time on high
adhesion coefficient single pavement ( P 0.8 are both
shorter than on the variable pavement, it is in line with the
actual situation.
Comparing Figure 3 and 8 we can that the changing of
the pavement has influence on the changing trend of wheel
speed and vehicle speed. On high adhesion coefficient, the
wheel speed and vehicle speed decline fast and the curve is
steep; On low adhesion coefficient, wheel speed and vehicle
speed declines small, and the curve is moderate; When the
next two pavement adhesion conditions change a lot, the
wheel speed and vehicle speed will also change greatly, it is
in line with the actual situation.
Throughout the process of braking, even when the two
adjacent pavement adhesion conditions change largely, the
wheel doesn't appear the phenomenon of locked braking,
which is in line with the actual requirements, and verify the
feasibility of the neural sliding mode control algorithm in
the vehicle SBC system.
REFERENCE
[1]
540