A Robust Wheel Slip Controller for a Hybrid Braking System
A robust wheel slip controller for electric vehicles is
introduced. The proposed wheel slip controller exploits the dynamics
of electric traction drives and conventional hydraulic brakes for
achieving maximum energy efficiency and driving safety. Due to
the control of single wheel traction motors in combination with a
hydraulic braking system, it can be shown, that energy recuperation
and vehicle stability control can be realized simultaneously. The
derivation of a sliding mode wheel slip controller accessing two
drivetrain actuators is outlined and a comparison to a conventionally
braked vehicle is shown by means of simulation.
[1] Hirschberg, W., "TM simple 4.0: A Simple to Use Tyre Model", Graz
University of Technology, 2008.
[2] Horn, M., et al., "Sliding-Mode Regelung von elektrischen Drosselklappen",
International Journal Automation Austria, 2008.
[3] Mitschke, M. et al., "Dynamik der Kraftfahrzeuge", Springer-Verlag
Berlin, 4.Auflage, 2004.
[4] Ringdorfer, M. et al., "Vehicle Dynamics Controller Concept for Electric
Vehicles", Proc. of AVEC10, 2010.
[5] Ringdorfer, M. et al., "Development of a Wheel Slip Actuator Controller
for Electric Vehicles using Energy Recuperation and Hydraulic Brake
Control", Proc. of IEEE MSC2011, 2011.
[6] Sastry, S., "Nonlinear Systems", Springer-Verlag Berlin, 1999.
[7] Slotine, L. et al., "Applied Nonlinear Control", Prentice Hall, 1991.
[1] Hirschberg, W., "TM simple 4.0: A Simple to Use Tyre Model", Graz
University of Technology, 2008.
[2] Horn, M., et al., "Sliding-Mode Regelung von elektrischen Drosselklappen",
International Journal Automation Austria, 2008.
[3] Mitschke, M. et al., "Dynamik der Kraftfahrzeuge", Springer-Verlag
Berlin, 4.Auflage, 2004.
[4] Ringdorfer, M. et al., "Vehicle Dynamics Controller Concept for Electric
Vehicles", Proc. of AVEC10, 2010.
[5] Ringdorfer, M. et al., "Development of a Wheel Slip Actuator Controller
for Electric Vehicles using Energy Recuperation and Hydraulic Brake
Control", Proc. of IEEE MSC2011, 2011.
[6] Sastry, S., "Nonlinear Systems", Springer-Verlag Berlin, 1999.
[7] Slotine, L. et al., "Applied Nonlinear Control", Prentice Hall, 1991.
@article{"International Journal of Information, Control and Computer Sciences:55628", author = "Martin Ringdorfer and Martin Horn", title = "A Robust Wheel Slip Controller for a Hybrid Braking System", abstract = "A robust wheel slip controller for electric vehicles is
introduced. The proposed wheel slip controller exploits the dynamics
of electric traction drives and conventional hydraulic brakes for
achieving maximum energy efficiency and driving safety. Due to
the control of single wheel traction motors in combination with a
hydraulic braking system, it can be shown, that energy recuperation
and vehicle stability control can be realized simultaneously. The
derivation of a sliding mode wheel slip controller accessing two
drivetrain actuators is outlined and a comparison to a conventionally
braked vehicle is shown by means of simulation.", keywords = "Wheel slip control, sliding mode control, vehicle dynamics.", volume = "5", number = "11", pages = "1288-5", }