Integrated brake system (IBS) is gaining attention due to its superior performance and applicability in high-level autonomous vehicles. Despite its high potential, the strong coupling and nonlinearity of the IBS system present significant challenges to controller design. The precision and response speed of the controller are critical factors affecting the performance of the IBS system. This article proposes a pressure controller based on offset-free explicit model predictive control (OFEMPC) architecture to enhance accuracy and robustness. First, the pressure–position relationship is modeled as a second-order polynomial based on experimental results. Second, the Karnopp friction model is adopted for feedforward compensation and is optimized according to the system characteristics. Furthermore, a disturbance observer is constructed to estimate the total disturbance, which is composed of model mismatch, time-varying parameters, and unexpected disturbances. Last but not least, an explicit model predictive controller is constructed. To validate the performance of the OFEMPC controller, a cosimulation platform and a bench test are conducted. The results of the simulations and experiments demonstrate that the OFEMPC improves tracking precision and disturbance suppression capability. In addition, the real-time performance is validated on the microchip.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Offset-Free Explicit Model Predictive Pressure Controller for Integrated Braking System


    Contributors:
    Chen, Zhentao (author) / Huang, Changyao (author) / Liu, Zijun (author) / Liu, Yicai (author) / Wang, Xiangyu (author) / Shi, Biaofei (author) / Li, Liang (author)


    Publication date :

    2024-06-01


    Size :

    5798823 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Handle integrated braking controller and braking control method and system

    LI XINING / ZHANG JUAN / ZHAO ZHONGSHENG et al. | European Patent Office | 2015

    Free access


    Experimental validation of integrated steering and braking model predictive control

    Falcone,P. / Borrelli,F. / Tseng,H.E. et al. | Automotive engineering | 2009


    Adaptable Emergency Braking Based on a Fuzzy Controller and a Predictive Model

    Alarcon, Leonardo Gonzalez / Recalde, Myriam Elizabeth Vaca / Marcano, Mauricio et al. | IEEE | 2018