In this paper, integrated control of EPS (Electric Power Steering) system and ABS (Anti-Lock Brake System) has been studied by using hierarchical control method. A two-layer hierarchical control architecture has been proposed to achieve the goal of functional integration for chassis control systems. The upper-layer controller has been designed to coordinate the interactions between the EPS system and ABS. A simple control strategy has been proposed through analysing the performance conflicts between the EPS system and the ABS. In the lower layer, the two controllers, including the EPS system and the ABS, have been designed independently to achieve their local control objectives. The robust H control method and the logic threshold control method have been used to design the EPS system and the ABS, respectively. Both a simulation investigation and an on-vehicle experimental study have been performed. The simulation results show that the proposed hierarchical control system is able to improve the lateral stability of the vehicle, and at the same time ensure the steering agility, and braking performance of the vehicle. Moreover, the experimental results verify the effectiveness of the design of the hierarchical control system.


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    Title :

    Hierarchical control of automotive electric power steering system and anti-lock brake system: Theory and experiment


    Additional title:

    Hierarchische Regelung des ABS und der elektrischen Lenkhilfe: Theorie und Versuch


    Contributors:
    Chen, Wuwei (author) / Xiao, Hansong (author) / Chu, Changbao (author) / Zu, Jean W. (author) / Zu, Jean (author)

    Published in:

    Publication date :

    2012


    Size :

    21 Seiten, 15 Bilder, 3 Tabellen, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






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