Development of a wheel slip actuator controller for electric vehicles using energy recuperation and hydraulic brake control

Ringdorfer, Martin; Horn, Martin

doi:10.1109/cca.2011.6044472

Cited by 21 publications

(11 citation statements)

References 4 publications

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“…The friction force estimator provides the estimated force

\overset{F}{true}

to the slip controller, which computes the drive torque T d . Note that an extension to a hybrid braking system consisting of a conventional hydraulic brake and an electric drive is straightforward (e.g., ).…”

Section: Controller Synthesismentioning

confidence: 99%

“…In the coupled scenario, that is, wheel and cylinder are in contact during the entire experiment, the friction force F . / is determined according to (31) (Figure 9(a)). If the contact between wheel and steel cylinder is lost, that is, F .…”

Section: Numerical Simulation Applied To An Abs-test Benchmentioning

confidence: 99%

“…Hence, the wheel-slip controller only influences the feedback loop whenever an undesired slip situation occurs. When the wheel-slip controller is activated, a compensating torque T c is added to the output signal of the velocity controller (e.g., [31]) (otherwise T c D 0). If the control algorithm is enabled, T c is computed such that the actual slip is forced towards its desired range.…”

Section: Comparison With a Conventional Approach Using Dyna4mentioning

confidence: 99%

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Robust cascaded automatic cruise control of electric vehicles

Reichhartinger

Horn

2015

Intl J Robust & Nonlinear

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Summary This article focuses on automatic cruise control for electrically driven vehicles. The objective is to track a given vehicle‐velocity profile. For this type of application, the so‐called wheel slip plays a key role, as it is a measure for the force transmitted from the wheel to the road. Conventional wheel‐ slip controllers are usually activated if the absolute value of the slip exceeds pre‐assumed thresholds. Furthermore, it is distinguished between a braking and acceleration maneuver using separately designed and implemented controllers. In contrast, the proposed concept requires neither an activation strategy for the slip controller nor a distinction between braking and acceleration. The cascaded control structure is based upon adaptive‐gains super twisting sliding‐mode algorithm, and the friction force estimator is realized as a second‐order sliding‐mode observer with constant gains. The effectiveness and robustness of the proposed concept are demonstrated in numerical simulations using a complex multibody vehicle model. Copyright © 2015 John Wiley & Sons, Ltd.

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“…The friction force estimator provides the estimated force

\overset{F}{true}

Section: Controller Synthesismentioning

confidence: 99%

Section: Numerical Simulation Applied To An Abs-test Benchmentioning

confidence: 99%

Section: Comparison With a Conventional Approach Using Dyna4mentioning

confidence: 99%

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Robust cascaded automatic cruise control of electric vehicles

Reichhartinger

Horn

2015

Intl J Robust & Nonlinear

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“…Several research works have specifically discussed methodological approaches to electric motor actuation in ABS mode. In particular, fuzzy logic [8], linear quadratic control [9], combination of wavelet transforms and back EMF analysis [10], and iterative learning [11] are known in this context. Recent advancements of electric motor technologies have allowed the introduction of several variants of electric ABS installed on vehicle platforms.…”

Section: Introductionmentioning

confidence: 99%

Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

Ivanov

Savitski

Augsburg

et al. 2015

2015 IEEE International Conference on Mechatronics (ICM)

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The paper introduces the anti-lock braking system (ABS) designed for the all-wheel drive full electric vehicle equipped with four on-board motors. The main features of the ABS under consideration are (i) continuous wheel slip control with feedforward and feedback controller parts, and (ii) versatile actuation architecture realizing pure electric braking, braking with electro-hydraulic decoupled brake systems, and blended braking with operation both of friction brakes and electric motors in regenerative mode. Results of ABS validation demonstrate essential benefits of the developed control strategy for brake performance, precise wheel slip tracking, and drive comfort at braking. Adaptive properties of the proposed ABS are discussed for test cases including the transient road friction.

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“…The total available energy for driving is strongly limited and expensive components of the drive train (e. g., batteries or inverters) have to be protected from overloads. At the same time, EVs can provide additional degrees of freedom for vehicle control, e. g., the option to drive individual wheels or to recuperate braking energy [1], [2]. This paper proposes an approach for optimal coordination of actuators in an EV to achieve balanced load, and thus wear, for components of the drive train (Fig.…”

Section: Introductionmentioning

confidence: 99%

Optimized control of an electric vehicle with functional actuator redundancy

Bergmiller

Schuldt

Maurer

2012

2012 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2012)

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This paper proposes an approach for optimized control of vehicle actuators as far as wear of individual components is concerned. The system is intended to improve the performance of existing balancing and protection systems working on component level. Well-tested and commonly known optimization algorithms are integrated into the onboard software to handle mutual dependencies of wear of components by generating an optimal coordination strategy. A suitable system architecture facilitates safe operation of the system and reduction of computational load. The approach especially focuses on electric vehicles with functional actuator redundancy and several power-supply units.Proper operation of the algorithm is demonstrated based on a full electric experimental vehicle. Thereby, tire wear is balanced while equalizing usage of the traction batteries and temperature levels of the drive motors.

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Development of a wheel slip actuator controller for electric vehicles using energy recuperation and hydraulic brake control

Cited by 21 publications

References 4 publications

Robust cascaded automatic cruise control of electric vehicles

Robust cascaded automatic cruise control of electric vehicles

Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

Optimized control of an electric vehicle with functional actuator redundancy

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