This paper presents an optimal control strategy for assigning wheel slips on all of the wheels of a tractor/trailer combination. Most ABS controllers work on a wheel by wheel or an axle by axle basis without consideration for overall system stability. This controller is based on a linear program (LP) and assigns wheel slips for each wheel in accordance with one of the following criteria: 1) During an emergency braking maneuver, optimal wheel slips are determined which maximize stopping while constraining the system to be stable, or 2) During a nonemergency braking maneuver, the controller is used to maximize stability while maintaining an achievable (commanded) deceleration.Computer simulations, which modeled a full tanker truck, were run to compare the response of the proposed controller with two controllers which incorporated select-low control and individual control ABS systems on various axles. Emergency braking responses in the following maneuvers were compared: constant turn, straight line split mu surface, and constant turn on a split mu surface. The LP controller showed itself to be a superior controller, especially in the last simulation where it was the only controller able to maintain tractor/trailer stability.Due to the control system complexity and extensive sensor requirements, implementation of the proposed controller would currently be practical only on specialized vehicles. But the simulation results presented here seem to justify the expense.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Advanced Braking and Stability Controller for Tow-Vehicle and Trailer Combinations


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    International Pacific Conference On Automotive Engineering ; 1993



    Publication date :

    1993-11-01




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    An Advanced Braking and Stability Controller for Tow-Vehicle and Trailer Combinations

    Elwell, M. / Kimbrough, S. / Society of Automotive Engineers | British Library Conference Proceedings | 1993


    An advanced braking and stability controller for two-vehicle and trailer combinations

    Elwell,M. / Kimbrough,S. / Univ.of Utah,US | Automotive engineering | 1993


    TOWING VEHICLE CONTROLLER USING TRAILER BRAKING STRATEGY AND TRAILER BRAKING CONTROL METHOD

    KASPER PHILLIP J / PILKINGTON ANDREW J / SASMAL SUBASHISH et al. | European Patent Office | 2021

    Free access

    TOWING VEHICLE CONTROLLER USING TRAILER BRAKING STRATEGY AND TRAILER BRAKING CONTROL METHOD

    KASPER PHILLIP J / PILKINGTON ANDREW J / SASMAL SUBASHISH et al. | European Patent Office | 2020

    Free access