Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fuelling, as well as automatic intersection or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inherently nonlinear with large uncertainties. The feasibility of providing a smooth precision stopping brake control based on a conventional pneumatic brake system has not yet been demonstrated. As the first step toward the fine braking control of conventional pneumatic brake system, the design of a pneumatic brake actuator based on the 'off-the-shelf' components for the precision stopping control of an automated bus and details of the modelling of each component are described. In order to facilitate controller design, the complex 'component by component' model is reduced to a more tractable one which still preserves the basic nonlinear characteristics of the original system. Both physical explanation and experimental data are provided to justify the model reduction and validate the simplified model which is used for controller design.
Pneumatic brake actuator design and modelling for the precision stopping control of automated bus
Modellbildung und Regelungsentwurf einer pneumatischen Bremse für den präzisen, automatischen Bremsvorgang eines Busses
2005
7 Seiten, 13 Bilder, 19 Quellen
Conference paper
English
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