For modern cars an increasing number of driver assistance systems have been developed. Some of these systems interfere/assist with the braking of a car. Here, a brake actuation algorithm for each individual wheel that can respond to both driver inputs and artificial vehicle deceleration set points is developed. The algorithm consists of a feed-forward control that ensures, within the modelled system plant, the optimal behaviour of the vehicle. For the quarter-car model with LuGre-tyre behavioural model, an inverse model can be derived using vx as the 'flat output', that is, the input for the inverse model. A number of time derivatives of the flat output are required to calculate the model input, brake torque. Polynomial trajectory planning provides the needed time derivatives of the deceleration request. The transition time of the planning can be adjusted to meet actuator constraints. It is shown that the output of the trajectory planning would ripple and introduce a time delay when a gradual continuous increase of deceleration is requested by the driver. Derivative filters are then considered: the Bessel filter provides the best symmetry in its step response. A filter of same order and with negative real-poles is also used, exhibiting no overshoot nor ringing. For these reasons, the 'real-poles' filter would be preferred over the Bessel filter. The half-car model can be used to predict the change in normal load on the front and rear axle due to the pitching of the vehicle. The anticipated dynamic variation of the wheel load can be included in the inverse model, even though it is based on a quarter-car. Brake force distribution proportional to normal load is established. It provides more natural and simpler equations than a fixed force ratio strategy.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Flatness-based model inverse for feed-forward braking control


    Weitere Titelangaben:

    Flatness-basierte Modellumkehrung für Bremsen-Vorwärtsregelung


    Beteiligte:
    Vries, Edwin de (Autor:in) / Fehn, Achim (Autor:in) / Rixen, Daniel (Autor:in)


    Erscheinungsdatum :

    2010


    Format / Umfang :

    20 Seiten, 17 Bilder, 2 Tabellen, 14 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Flatness-based model inverse for feed-forward braking control

    de Vries, Edwin / Fehn, Achim / Rixen, Daniel | Taylor & Francis Verlag | 2010


    Flatness-based model inverse for feed-forward braking control

    Vries,E.de / Fehn,A. / Rixen,D. et al. | Kraftfahrwesen | 2010




    ITC – model-based feed forward traction control

    Dr. König, Lars / Schindele, Frieder / Dr. Ghosh, Jyotishman | Springer Verlag | 2018