Vehicle braking force distribution with electronic pneumatic braking and hierarchical structure for commercial vehicle

Abstract

Brake by wire that allows a number of braking functions exists on commercial vehicles under the name electronic pneumatic braking system, which can improve braking comfort and safety of commercial vehicle. The design of braking force distribution control method has drawn much more attention. Considering structure characteristics of electronic pneumatic braking system, a control method with a three-layer hierarchical structure is proposed. The first layer presents an estimation method towards vehicle mass and centre of gravity combining Kalman filter with recursive least square. The second layer is developed by designing a fixed relationship between the brake pedal displacement and vehicle braking deceleration. A deceleration control method that only uses brake pedal displacement as input is applied to make the vehicle follow the desired deceleration. The third layer includes a braking force distribution control method between the front and rear axles. The vehicle deceleration can be achieved with a smooth axle load transfer process based on linear matrix inequality. In addition, the controllers of wheel slip rate and valve hysteresis compensation are designed to improve control accuracy and efficiency. Utilizing a hardware-in-the-loop simulation test rig of electronic pneumatic braking system, the experiment results show that the control method can improve the braking performance of vehicle.

Keywords

Vehicle dynamic braking force distribution electronic pneumatic braking system hierarchical structure mass estimation

Get full access to this article

View all access options for this article.

References

Cantoni

Cesarini

Mastinu

et al . Brake comfort – a review. Vehicle Syst Dyn 2009; 47(8): 901–947.

Diba

Esmailzadeh

Integrated momentum wheel and differential braking control to improve vehicle dynamic performance. Proc IMechE, Part I: J Systems and Control Engineering 2013; 227(7): 563–576.

Rajaram

Subramanian

SC.

Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles. Vehicle Syst Dyn 2016; 54(7): 871–901.

Salaani

Rao

Every

et al . Hardware-in-the-loop pneumatic braking system for heavy truck testing of advanced electronic safety interventions. SAE Int J Passeng Cars: Mech Syst 2016; 9(2): 912–923.

Karthikeyan

Siva Chaitanya

Jagga Raju

et al . Modelling an electropneumatic brake system for commercial vehicles. IET Electr Syst Transp 2011; 1(1): 41–48.

Wang

Yang

et al . Pneumatic electronic braking assistance system using high-speed valves. In: Proceedings of the IEEE international conference on vehicular electronics and safety, Qingdao, China, 15–17 July 2010, pp.59–64. New York: IEEE.

Liu

Hayama

et al . Method for measuring a driver’s steering efficiency using electromyography. Proc IMechE, Part D: J Automobile Engineering 2014; 228(10): 1170–1184.

Beyer

Scharamm

Wrede

Electronic braking system EBS – status and advanced functions. SAE technical paper982781, 1998.

Chan

Electronic stability control as standard on heavy duty emergency vehicles: a simulation analysis. SAE technical paper 2011-01-2151, 2011.

10.

Mashadi

Mostaani

Majidi

Vehicle stability enhancement by using an active differential. Proc IMechE, Part I: J Systems and Control Engineering 2011; 225(8): 1098–1114.

11.

Wang

et al . A three-dimensional dynamics control framework of vehicle lateral stability and rollover prevention via active braking with MPC. IEEE T Ind Electron 2017; 64(4): 3389–3401.

12.

Miller

Cebon

A high performance pneumatic braking system for heavy vehicles. Vehicle Syst Dyn 2010; 48(1): 373–392.

13.

Sharkawy

Genetic fuzzy self-tuning PID controllers for antilock braking systems. Eng Appl Artif Intel 2010; 23(7): 1041–1052.

14.

Tan

HS.

Pneumatic brake control for precision stopping of heavy-duty vehicles. IEEE T Contr Syst T 2007; 15(1): 53–64.

15.

Bera

Bhattacharya

Samantaray

AK.

Bond graph model-based evaluation of a sliding mode controller for a combined regenerative and antilock braking system. Proc IMechE, Part I: J Systems and Control Engineering 2011; 225(7): 918–934.

16.

Karthikeyan

Sonawane

Subramanian

SC.

Model-based control of an electropneumatic brake system for commercial vehicles. Int J Automot Techn 2010; 11(4): 507–515.

17.

Poursamad

Adaptive feedback linearization control of antilock braking systems using neural networks. Mechatronics 2009; 19(5): 767–773.

18.

Acarman

Özgüner

Ü.

Rollover prevention for heavy trucks using frequency shaped sliding mode control. Vehicle Syst Dyn 2006; 44(10): 737–762.

19.

Wang

et al . Transient switching control strategy from regenerative braking to anti-lock braking with a semi-brake-by-wire system. Vehicle Syst Dyn 2016; 54(2): 231–257.

20.

Aparow

Ahmad

Hudha

et al . Modelling and PID control of antilock braking system with wheel slip reduction to improve braking performance. Int J Veh Saf 2013; 6(3): 265–296.

21.

Cheli

Concas

Giangiulio

et al . A simplified ABS numerical model: comparison with HIL and full scale experimental tests. Comput Struct 2008; 86(13): 1494–1502.

22.

Høye

The effects of electronic stability control (ESC) on crashes – an update. Accident Anal Prev 2011; 43(3): 1148–1159.

23.

Xiao

Chen

Zhou

et al . Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment. Vehicle Syst Dyn 2011; 49(1): 381–397.

24.

Liu

Yang

et al . Estimation of tire-road friction coefficient based on combined APF-IEKF and iteration algorithm. Mech Syst Signal Pr 2017; 88: 25–35.

25.

Liu

Hayama

et al . A novel estimating method for steering efficiency of the driver with electromyography signals. Chin J Mech Eng 2014; 26(3): 460–467.

26.

Zhang

Wang

Robust gain-scheduling energy-to-peak control of vehicle lateral dynamics stabilisation. Vehicle Syst Dyn 2014; 52(3): 309–340.

27.

Sun

Gao

Kaynak

Finite frequency H∞ control for vehicle active suspension systems. IEEE T Contr Syst T 2011; 19(2): 416–422.

28.

Sun

Gao

Kaynak

Vibration isolation for active suspensions with performance constraints and actuator saturation. IEEE/ASME T Mech 2015; 20(2): 675–683.

29.

Zhao

et al . A new robust control method for active front steering considering the intention of the driver. Proc IMechE, Part D: J Automobile Engineering 2015; 229(4): 518–531.