Abstract
This paper presents a control-oriented Linear Parameter-Varying (LPV) model for commercial vehicle air brake systems with the electro-pneumatic proportional valve based on the nonlinear mathematical model, a set of discrete-time linearized models at different target pressures with the q-Markov Cover system identification method. The scheduled parameters for the LPV model were the brake chamber pressure, which was controlled by the electro-pneumatic proportional valve. On the basis of the LPV model, a family of Model Predictive Control (MPC) controllers with a Kalman filter was designed at each operation point. Then, the gain-scheduled MPC was designed over the entire operating range with the switched strategy, which was validated by experimental data. Furthermore, compared with the PID controller, the performance of the system was improved with a gain-scheduled MPC controller.
Highlights
The brake system as a vital part of a vehicle is an essential aspect of the vehicle dynamics, especially the longitudinal dynamics
Zamzamzadeh M. et al [6] performed an analysis of the effect of braking pedal force on vehicle braking distance through a multi-body dynamic simulation based on the Single Unit Truck (SUT) model
To reduce the system response time, vehicle brake distance, and realize active braking, the pneumatic brake system studied in this paper considered mainly two components: the electro-pneumatic proportional valve and brake chamber
Summary
The brake system as a vital part of a vehicle is an essential aspect of the vehicle dynamics, especially the longitudinal dynamics. Zamzamzadeh M. et al [6] performed an analysis of the effect of braking pedal force on vehicle braking distance through a multi-body dynamic simulation based on the Single Unit Truck (SUT) model. Et al [10] developed an electric brake system widely used in commercial vehicles, to reduce the response time of the pneumatic brake system and shorten the stopping distance, and established the relevant mathematical model from the input voltage to the pressure transient, which was verified by experimental data. For different MPC controllers with different operating points, in this paper, a gain-scheduled MPC scheme was proposed to solve the control problem of brake pressure in the pneumatic brake system.
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