Abstract
The coordinated control of a blended braking system is always a difficult task. In particular, blended braking control becomes more challenging when the braking actuator has an input time-delay and some states of the braking system cannot be measured. In order to improve the tracking performance, a coordinated control system was designed based on the input time-delay and state observation for a blended braking system comprising a motor braking system and friction braking system. The coordinated control consists of three parts: Sliding mode control, a multi-input single-output observer, and time-delay estimation-based Smith Predictor control. The sliding mode control is used to calculate the total command braking torque according to the desired braking performance and vehicle states. The multi-input single-output observer is used to simultaneously estimate the input time-delay and output braking torque of the friction braking system. With time-delay estimation-based Smith Predictor control, the friction braking system is able to effectively track the command braking torque of the friction braking system. The tracking of command braking torque is realized through the coordinated control of the motor braking system and friction braking system. In order to validate the effectiveness of the proposed approach, numerical simulations on a quarter-vehicle braking model were performed.
Highlights
The simulation results prove that the designed observer is able to effectively estimate the input time-delay and the output braking torque of the friction braking system simultaneously
The sliding mode control is used to ensure that the wheel tracks the command wheel speed
The input time-delay-based Smith Predictor is adopted for the friction braking system control
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. To the best of the authors’ knowledge, no research has reported the simultaneous observation of the input time-delay and output braking torque of a friction braking system in a blended braking system. There are some research papers on the time-delay and state observer design [18,19,20] They focus on the disturbance [19] and single-input single-output (SISO) system [20]. The observer is able to simultaneously estimate the output braking torque and input time-delay of the friction braking system in the blended braking system. The braking control strategy includes sliding mode control to achieve the desired braking performance, an observer to estimate the input time-delay and output braking torque of the friction braking system, and time-delay estimation-based Smith Predictor control for the friction braking system control.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
