scholarly journals Model-free Intelligent Control for Antilock Braking Systems on Rough Terrain

2021 ◽  
Vol 347 ◽  
pp. 00018
Author(s):  
Ricardo de Abreu ◽  
Theunis R. Botha ◽  
Herman A. Hamersma
Keyword(s):  
Intelligent Control ◽  
Rough Terrain ◽  
Convolutional Network ◽  
Tyre Model ◽  
Control Approach ◽  
Stopping Distance ◽  
Model Free ◽  
Intelligent Technique ◽  
Antilock Braking System ◽  
Antilock Braking

Advancements have been made in the field of vehicle dynamics, improving the handling and safety of the vehicle through control systems such as the Antilock Braking System (ABS). An ABS enhances the braking performance and steerability of a vehicle under severe braking conditions by preventing wheel lockup. However, its performance degrades on rough terrain resulting in an increased wheel lockup and stopping distance compared to without. This is largely as a result of noisy measurements, and un-modelled dynamics that occur as a result of the vertical and torsional excitation experienced over rough terrain. Therefore, it is proposed that a model-free intelligent technique, which may adapt to these dynamics, be used to overcome this problem. The Double Deep Q-learning (DDQN) technique in conjunction with a Temporal Convolutional Network (TCN) is proposed as the intelligent control algorithm, and straight line braking simulations are performed using a single tyre model, with tyre characteristics approximated by the LuGre tyre model. The rough terrain is modelled after the measured Belgian paving with the normal forces at the tyre contact patch approximated using FTire in ADAMS. Comparisons are drawn against the Bosch algorithm, and results show that the intelligent control approach achieves lateral stability by preventing wheel lockup whilst braking over rough terrain, without deteriorating the stopping distance.

Development of Antilock Braking System Based on Various Intelligent Control System

2012 ◽  
Vol 229-231 ◽  
pp. 2394-2398 ◽  
Author(s):  
Vimal Rau Aparow ◽  
Ahmad Fauzi ◽  
Muhammad Zahir Hassan ◽  
Khisbullah Hudha
Keyword(s):  
Variable Structure ◽  
Strong Nonlinearity ◽  
Stopping Distance ◽  
Intelligent Control System ◽  
Braking System ◽  
Antilock Braking System ◽  
Road Surfaces ◽  
Antilock Braking ◽  
Longitudinal Slip ◽  
And Control

This paper presents about the development of an Antilock Braking System (ABS) using quarter vehicle model and control the ABS using different type of controllers. Antilock braking system (ABS) is an important part in vehicle system to produce additional safety for drivers. In general, Antilock braking systems have been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking especially on slippery road surfaces. In this paper, a variable structure controller has been designed to deal with the strong nonlinearity in the design of ABS controller. The controllers such as PID used as the inner loop controller and Fuzzy Logic as outer loop controller to develop as ABS model to control the stopping distance and longitudinal slip of the wheel.

scholarly journals Design, Analysis and Application of Single-Wheel Test Bench for All-Electric Antilock Braking System in Electric Vehicles

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1294
Author(s):  
Xiangdang XUE ◽  
Ka Wai Eric CHENG ◽  
Wing Wa CHAN ◽  
Yat Chi FONG ◽  
Kin Lung Jerry KAN ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Test Bench ◽  
Potential Candidate ◽  
Vertical Force ◽  
Abs Algorithms ◽  
Braking System ◽  
Vehicle Velocity ◽  
Antilock Braking System ◽  
Antilock Braking ◽  
Electromechanical Brake

An antilock braking system (ABS) is one of the most important components in a road vehicle, which provides active protection during braking, to prevent the wheels from locking-up and achieve handling stability and steerability. The all-electric ABS without any hydraulic components is a potential candidate for electric vehicles. To demonstrate and examine the all-electric ABS algorithms, this article proposes a single-wheel all-electric ABS test bench, which mainly includes the vehicle wheel, the roller, the flywheels, and the electromechanical brake. To simulate dynamic operation of a real vehicle’s wheel, the kinetic energy of the total rotary components in the bench is designed to match the quarter of the one of a commercial car. The vertical force to the wheel is adjustable. The tire-roller contact simulates the real tire-road contact. The roller’s circumferential velocity represents the longitudinal vehicle velocity. The design and analysis of the proposed bench are described in detail. For the developed prototype, the rated clamping force of the electromechanical brake is 11 kN, the maximum vertical force to the wheel reaches 300 kg, and the maximum roller (vehicle) velocity reaches 100 km/h. The measurable bandwidth of the wheel speed is 4 Hz–2 kHz and the motor speed is 2.5 Hz–50 kHz. The measured results including the roller (vehicle) velocity, the wheel velocity, and the wheel slip are satisfactory. This article offers the effective tools to verify all-electric ABS algorithms in a laboratory, hence saving time and cost for the subsequent test on a real road.

scholarly journals A MODEL-FREE APPROACH FOR ACCURATE JOINT MOTION CONTROL IN HUMANOID LOCOMOTION

2011 ◽  
Vol 08 (01) ◽  
pp. 27-46 ◽  
Author(s):  
JORGE VILLAGRA ◽  
CARLOS BALAGUER
Keyword(s):  
Nonlinear Effects ◽  
Control Approach ◽  
Transmission Delays ◽  
Online Identification ◽  
Model Free ◽  
Uncertain Dynamics ◽  
Parameter Variations ◽  
Network Transmission ◽  
Model Free Approach ◽  
The One

A new model-free approach to precisely control humanoid robot joints is presented in this article. An input–output online identification procedure will permit to compensate neglected or uncertain dynamics, such as, on the one hand, transmission and compliance nonlinear effects, and, on the other hand, network transmission delays. Robustness to parameter variations will be analyzed and compared to other advanced PID-based controllers. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the closed-loop system. Furthermore, a locomotion task will be tested in a complete humanoid simulator to highlight the suitability of this control approach for such complex systems.

Model-Free Control Approach of a Three-Tank System Using an Adaptive-Based Control

2017 ◽  
Author(s):  
Elmira Madadi ◽  
Yao Dong ◽  
Dirk Söffker
Keyword(s):  
Tracking Error ◽  
Identification Problem ◽  
Dynamical Structure ◽  
Modified Model ◽  
Control Approach ◽  
Model Free ◽  
Tank System ◽  
Model Free Control ◽  
Complex Nonlinear Systems ◽  
Error Optimization

For improving the dynamics of systems in the last decades model-based control design approaches are continuously developed. The task to design an accurate model is the most relevant and related task for control engineers, which is time consuming and difficult if in the case of complex nonlinear systems a complex modeling or identification problem arises. For this reason model-free control methods become attractive as alternative to avoid modeling. This contribution focuses on design methods of a model-free adaptive-based controller and modified model-free adaptive-based controller. Modified approach is based on the same adaptive model-free control algorithm performing tracking error optimization. Both approaches are designed for non-linear systems with uncertainties and in the presence of disturbances in order to assure suitable performance as well as robustness against unknown inputs. Using this approach, the controller requires neither the information about the systems dynamical structure nor the knowledge about systems physical behaviors. The task is solved using only the system outputs and inputs, which are measurable. The effectiveness of the proposed method is validated by experiments using a three-tank system.

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