Optimal Control for Anti-Braking System

Author

Chikhi, F. ; El Hadri, A. ; Cadiou, J.C.

Author_Institution

Lab. de Robotique de Versailles, Versailles Univ., Velizy

fYear

2005

fDate

27-29 June 2005

Firstpage

581

Lastpage

585

Abstract

The goal of this study consists to design of a control law in order to optimize the braking/traction force. To maximize this force, it must to localize the wheel slip which corresponds to the maximum tire road adhesion characteristic. In the strategy of the control proposed here, the wheel slip control reference is not imposed but this reference would be generated to reach the optimal wheel slip corresponding to the maximum of the tire road characteristic curve. The generation of the control reference is based of the use of a nominal Pacejka tyre model. To adjust this curve around a maximum of real adhesion curve, the model is rewrite in function of two variables which would be estimated. The proposed control method is verified through one-wheel simulation model with a "magic formula" tire model. Simulations results show the effectiveness of this controller scheme

Keywords

adhesion; automobiles; brakes; braking; force control; optimal control; traction; tyres; wheels; anti-braking system; braking force; optimal control; tire road adhesion; traction force; wheel slip control; Optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467079

Filename

1467079