Feedback brake distribution control for minimum pitch

Abstract

The distribution of brake forces between front and rear axles of a vehicle is typically specified such that the same level of brake force coefficient is imposed at both front and rear wheels. This condition is known as ‘ideal’ distribution and it is required to deliver the maximum vehicle deceleration and minimum braking distance. For subcritical braking conditions, the deceleration demand may be delivered by different distributions between front and rear brak- ing forces. In this research we show how to obtain the optimal distribution which minimises the pitch angle of a vehicle and hence enhances driver subjective feel during braking. A vehi- cle model including suspension geometry features is adopted. The problem of the minimum pitch brake distribution for a varying deceleration level demand is solved by means of a model predictive control technique. To address the problem of the undesirable pitch rebound caused by a full-stop of the vehicle, a second controller is designed and implemented independently from the braking distribution in use. An extended Kalman filter is designed for state esti- mation and implemented in a high fidelity environment together with the model predictive control strategy. The proposed solution is compared with the reference ‘ideal’ distribution as well as another previous feed-forward solution

Параметричний Синтез Цифрового Стабілізатора Системи Курсової Стійкості Автомобіля-Паливозаправника

“…ABS постійно підтримує стійкість напрямку руху автомобіля в процесі гальмування, проте точність підтримки курсової стійкості може виявитися недостатньою. У цьому випадку на сучасних легкових автомобілях представницького класу, вироблених провідними автомобільними корпораціями світу, використовуються системи курсової стійкості VSC (Vehicle Stability Control) [1-4], що містять електронні системи розподілу гальмівних зусиль EBD (Electronic Brake Distribution) [5][6][7]. Система VSC функціонує в комплексі з системою ABS і дозволяє більш ефективно розподілити гальмівні зусилля на колесах з метою підвищення керованості і стійкості руху автомобіля в процесі екстреного гальмування.…”

Simulation of Random External Disturbance Acting on the Car Body in the Urgent Braking Mode

“…In works [1,2], the problems of parametric synthesis of continuous and digital ESP systems are solved under the conditions of the requirement of maximum speed, maximum margin of stability and maximum accuracy. In the listed works, a mathematical model of the disturbed movement of a car during emergency braking was developed, which has the following form:…”

Research on Cooperative Braking Control Algorithm Based on Nonlinear Model Prediction

“…The increase in the degree of decoupling of the braking system has laid the hardware foundation for the implementation of advanced braking control algorithms [2,3]. Among them, the cooperative braking control algorithm has been a hot topic of research in the industry, which is mainly used to solve the problem of coordinated distribution of motor braking and friction braking for the regenerative braking system and has an important impact on braking safety and braking energy recovery effect [4][5][6].…”