Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.

Development of a Low-cost Hardware-in-the-loop Simulation System as a Test Bench for Anti-lock Braking System

Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to substitute part of road tests for designing,testing,and tuning electronic control units（ECUs） of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided.

Design of increasing controllability of braking vehicle

The operating principle of an antilock braking system （ABS） is it compares current value of angular acceleration with the threshold value. The advantage of such system is that enough it has only the angular velocity sensors. The disadvantage is successive overshoot, i. e. successive transition from wheels locking mode to wheels rolling mode. So braking mechanism can’ t realize the maximum possible torque in the current road conditions. The idea of increasing the braking effectiveness is the intensity of rising pressure depends on the road conditions. The problem is the torque produced by braking mechanism, current road conditions and the value of traction coefficient is unknown For evaluation of these parameters built and training three neural networks. A simulator of random road condition＇s variation was built to test adequacy of the control unites operation in close to real conditions.

Road Identification for Anti-Lock Brake Systems Equipped with Only Wheel Speed Sensors

Anti lock brake systems (ABS) are now widely used on motor vehicles. To reduce product cost and to use currently available technologies, standard ABS uses only wheel speed sensors to detect wheel angular velocities, which is not enough to directly obtain wheel slip ratios needed by the control unit, but can be used to calculate reference slip ratios with measured wheel angular velocities and the estimated vehicle speed. Therefore, the road friction coefficient, which determines the vehicle deceleration during severe braking, is an important parameter in estimating vehicle speed. This paper analyzes wheel acceleration responses in simulations of severe braking on different road surfaces and selects a pair of specific points to identify the wheel acceleration curve for each operating condition, such as road surface, pedal braking torque and wheel vertical load. It was found that the curve using the selected points for each road surface clearly differs from that of the other road surfaces. Therefore, different road surfaces can be distinguished with these selected points which represent their corresponding road surfaces. The analysis assumes that only wheel speed sensors are available as hardware and that the road cohesion condition can be determined in the initial part of the severe braking process.