Please use this identifier to cite or link to this item: http://hdl.handle.net/10216/94108
Author(s): Ricardo de Castro
João de Sousa
Rui Araújo
F. Lobo Pereira
Diamantino Freitas
Title: Hybrid modeling, control and estimation in ABS applications based on In-Wheel electric motors
Issue Date: 2010
Abstract: The problems of tire slip control and peak frictionestimation for Anti-lock Braking Systems are formulated andsolved in the framework of hybrid control techniques. Thehybrid systems model of the vehicle dynamics arises fromapproximating the nonlinear behavior of the tire-road frictioncoefficient with a Piecewise Linear Function (PLF). The problem of tyre slip control is formulated as an invariance problem. The invariance control problem is solved with the help of a simple hysteretic controller which takes advantage of the fast torque response from the in-wheel electric motor. The controllers properties, such as necessary conditions to ensure invariance, robustness to disturbances, convergence and limit cycle period are analyzed in detail. The problem of the estimating the peak friction for the tire-road interface is solved using properties of the limit cycles arising in the hybrid model.Monitoring the duty cycle, imposed by hysteretic controller,was found to be sufficient to extract information regarding the conditions of adhesion in the road. The controller and estimator were evaluated under variable grip levels, in a vehicle dynamics simulation software, obtaining a good performance for both the tire slip regulation and for the peak friction estimationd.
Subject: Veículos eléctricos, Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Electric vehicles, Control engineering, Electrical engineering, Electronic engineering, Information engineering
URI: http://hdl.handle.net/10216/94108
Source: Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems - MTNS 2010
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: restrictedAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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