wheel slip control in abs brakes using gain scheduled constrained lqr

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1、WHEELSLIPCONTROLINABSBRAKESUSINGGAINSCHEDULEDCONSTRAINEDLQRIdarPetersenW,TorA.JohansenW*WW,JensKalkkuhlWWWandJensLüdemannWWWSINTEFElectronicsandCybernetics,N-7465Trondheim,Norway.e-mail:Idar.Petersen@ecy.sintef.noDepartmentofEngineeringCybernetics,NorwegianUniversityo

2、fScienceandTechnology,N-7491Trondheim,Norway.DaimlerChrysler,ResearchandTechnology,Alt-Moabit96a,D-10559Berlin,Germany.Keywords:Automotivecontrol,gainscheduling,nonlinearsystems,robustness,stabilityAbstractAwheelslipcontrollerforABSbrakesisformulatedusinganexplicitcon

3、strainedLQRdesign.Thecontrollergainmatricesaredesignedandscheduledonthevehiclespeedbasedonlocallinearizations.ALyapunovfunctionforthenonlinearcontrolsystemisderviedusingtheRiccatiequationsolutioninordertoprovestabilityandrobustnesswithrespecttouncertaintyintheroad/tyrefr

4、ictioncharacteristic.Experimentalresultsfromatestvehiclewithelectromechanicalbrakeactuatorsandbrake-by-wireshowthathighperformanceandrobustnessareFigure1:Quartercarforcesandtorques.achieved.acceleration.Theequationsofmotionofthequartercarare1IntroductionAnanti-lockbrakes

5、ystem(ABS)controlstheslipofeach


{(1)wheeltopreventitfromlockingsuchthatahighfriction
{
e(2)isachievedandsteerabilityismaintained.ABScontrollersarecharacterizedbyrobustadaptivebehaviourwithrespecttowherehighlyuncertaintyrecharacteristicsandfastchangingro

6、adsur-faceproperties[1].horizontalspeedatwhichthecartravelsangularspeedofthewheelTheintroductionofadvancedfunctionalitysuchasESP(elec-}verticalforcetronicstabilityprogram),drive-by-wireandmoresophisticated{tyrefrictionforceactuatorsoffersbothnewopportunitiesandrequir

7、ementsforebraketorquehigherperformanceinABSbrakes.Thecontributionofthewheelradiuspresentworkisastudyofamodel-baseddesignofABScon-wheelinertiatrollers,seealso[2],[3].Weconsiderelectromechanicalac-tuators[4]ratherthanhydraulicactuators,whichallowcon-Thetyrefrictionforce

8、{isgivenbytinuousadjustmentoftheclampingforce.Here,wedesignthewheelslipcontrollerbasedonarecentlydevel