Abstract
A new control algorithm of ABS was proposed base on the sliding mode extremum-seeking algorithm, in terms of the fact that the road adhesion coefficient is complex and variable and the optimal slip ratio is difficult to be estimated accurately. This is achieved by adapting the extremum-seeking algorithm as a self-optimization routine that seeks the peak point of the tire force-slip curve, while it is approaching the peak point quickly using the sliding mode variable structure control method. Moreover, the driving condition of braking-in-turn has been taken into consideration. The control law was corrected by introducing the steering wheel angle to compensate for the vehicle lateral stability when cornering. Numerical simulation studies have been conducted to evaluate the proposed control algorithm using a 7-DOF full vehicle model built in MATLAB/Simulink. The simulation results show that the designed controller can quickly find the maximum braking force and optimum slip ratio value with respect to the unknown and possibly changing road conditions. When braking-in-turn, the slip ratio decreases and the tire lateral force increases without overtly increasing the parking time, thereby improving the lateral stability of the vehicle. And the controller can adapt to the variable road adhesion coefficient when road conditions changing.
Key words
vehicle engineering /
Anti-lock Braking System /
sliding mode extremum-seeking algorithm /
vehicle lateral stability /
road adhesion coefficient
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LI Yonghui1，ZHOU Bing1，YUAN Xiwen1，HU Xiaolan1，CHENG Yiran2 .
Extremum-Seeking Control of ABS Braking in Road Vehicles With Lateral Stability Improvement[J]. Journal of Vibration and Shock, 2016, 35(4): 121-126
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