A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehi...

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Published inVehicle system dynamics Vol. 52; no. 4; pp. 475 - 503
Main Authors Zhang, Xiangwen, Xu, Yong, Pan, Ming, Ren, Fenghua
Format Journal Article
LanguageEnglish
Published Taylor & Francis 03.04.2014
Subjects
ABS
Adaptive algorithms
adaptive sliding-mode control algorithm
Algorithms
Antilock braking systems
Friction
optimal slip ratio
Roads
Tires
tyre/road friction coefficient estimation
Tyres
vehicle velocity observer
Vehicles
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ISSN0042-3114
1744-5159
DOI10.1080/00423114.2013.864775

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Abstract A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.
AbstractList A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.
Author Pan, Ming
Ren, Fenghua
Xu, Yong
Zhang, Xiangwen
Author_xml – sequence: 1
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  surname: Zhang
  fullname: Zhang, Xiangwen
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– sequence: 2
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  surname: Xu
  fullname: Xu, Yong
  organization: School of Electronic Engineering and Automation, Guilin University of Electronic Technology
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  givenname: Ming
  surname: Pan
  fullname: Pan, Ming
  organization: School of Electronic Engineering and Automation, Guilin University of Electronic Technology
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  givenname: Fenghua
  surname: Ren
  fullname: Ren, Fenghua
  organization: School of Electronic Engineering and Automation, Guilin University of Electronic Technology
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Snippet A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on...
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SubjectTerms ABS
Adaptive algorithms
adaptive sliding-mode control algorithm
Algorithms
Antilock braking systems
Friction
optimal slip ratio
Roads
Tires
tyre/road friction coefficient estimation
Tyres
vehicle velocity observer
Vehicles
Title A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations
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