An Antilock-Braking Algorithm for an Eddy-Current-Based Brake-By-Wire System

Abstract

This paper presents a nonlinear sliding-mode-type controller for slip regulation in a braking event for an electromagnetic brake-by-wire (BBW)-system-equipped automobile. The electromagnetic BBW system under consideration consists of a set of eddy current brakes (ECBs) attached to the automobile wheels. The antilock-braking controller modifies the brake torque command generated by a supervisory controller which, in turn, is based on the driver's command sensed via brake pedal sensors. The modified brake torque command is then generated by a closed-loop actuator control algorithm to control the ECB system. It is shown in this paper that the proposed antilock-braking control system is stable in the sense of Lyapunov. Experimental results are presented for a test vehicle equipped with an eddy-current-based BBW system. Experimental results show that the proposed antilock brake control algorithm provides very good slip regulation in a braking event on low friction-coefficient surfaces (wet jennite) when compared with that of a braking event without the proposed antilock-braking control. Experimental results also indicate that the proposed antilock-braking control system provides a smooth stop for the vehicle