The research takes the non linear quarter car model, and its inverse based on the concept of flatness as a starting point. The paper presents a control architecture that inherently solves the redundant control aims for braking a car. Reaching the desired deceleration, while keeping the brake slip limited is set as the control design aim. In the control architecture proposed here, the inner loop keeps the brake slip as small as it is maximally allowed. The outer loop controls the deceleration and is very effective in correcting for additional vehicle mass. In cooperation the outer loop is not always effective when the desired deceleration is close to the maximal attainable deceleration. The natural response to a deceleration level that is not reached is to brake harder; which is ineffective if limited friction is causing the deceleration to lag behind. Therefore a methodology is resented to switch off the outer-loop smoothly; the smoothness being a requirement on the input signals of the flatness based inverse system.
Model-based vehicle brake control with inner- and outer feedback loop
2012
15 Seiten, 15 Bilder, 7 Quellen
Conference paper
English
Brake feedback system, vehicle and control method of brake feedback system
European Patent Office | 2024
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