Abstract
With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel slip ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideration of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel slip ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.
Highlights
The anti-lock braking system (ABS) is a very important safety component for vehicles because it is inevitable that an emergency situation will occur during the operation of a vehicle
Vehicles without ABS are prone to becoming locked under certain conditions of friction and speed, and dangerous phenomena occur such as drift and even over-turn or turning around
There have many indicators that measure the control performance of the ABS controller during the whole vehicle braking period; select the three most important options: The stop distance D is considered as the parameter that is displayed, the braking torque Tbw is the guarantee of the automobile motor’s lifetime and the wheel real-time slip ratio λ is the steering wheel controllable sign
Summary
The ABS is a very important safety component for vehicles because it is inevitable that an emergency situation will occur during the operation of a vehicle. Vehicles without ABS are prone to becoming locked under certain conditions of friction and speed, and dangerous phenomena occur such as drift and even over-turn or turning around. The design of ABS has always been the top priority of safe driving. The development of hydraulic ABS for fuel vehicles is relatively mature, but such hydraulic ABSs cannot be applied to electric vehicles (EV). With the new legislation on EV and the relative maturity in EV technology and lower cost in research and development of EV parts, the growth of EVs in the automotive market is increasing rapidly; the safe driving of EVs is worthy of research and development. The EV with a pure electronic based CAB contributed extensively to the world and is relatively new compared
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