Performance evaluation of traction control systems using a vehicle dynamic model

Abstract

This study evaluates traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller, or an integrated controller of both systems. The dynamic characteristics of a vehicle and a TCS are evaluated using a proposed full car model that can simulate the responses of both front-wheel-drive and four-wheel-drive vehicles. A driver model is also modified to control the vehicle during tests on a road with split Coefficients. The results show that the brake TCS provides more acceleration on uniform slippery and split roads, but the yaw rate and the lateral off set are larger than those obtained when an engine TCS is used. When the vehicle is cornering and accelerating with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. An integrated TCS prevents most of these problems and improved the stability and controllability of the vehicle. Four-wheel-drive vehicles exhibit better traction control than two-wheel-drive vehicles, but their steerability is reduced.

Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: curvilinear coordinates approach (Part II)**The authors would like to thank Instituto Federal de Educação, Ciência e Tecnologia da Bahia (IFBA) and Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES), all of them of Brazil, for the research grant, financial support and study fellowship.

“…In addition, several phenomena contribute with that violation, such as sliding, deformability or flexibility. Thus, the trajectory tracking control of WMRs and its stabilization have given rise to an abundant literature in recent years due to its challenging theoretical nature [see Chwa (2004); Aithal and Janardhanan (2013); Song and Boo (2004);Fernández et al (2015)]. It is well-known that there does not exist a smooth pure state feedback control law such that the state of a WMR converges to the origin [see Dong (2010);Fernández et al (2014); Bloch et al (2000)].…”

“…Methods based on the slipping and skidding variations can be found in hybrid control laws [e.g., techniques on fuzzy logic and sliding modes, or techniques on singular perturbations and sliding modes, see Song and Boo (2004); Hamerlain et al (2005)]. However, the chattering phenomena associated with the sliding control makes of these methodologies rather impracticable [see Chwa (2004); Aithal and Janardhanan (2013)].…”

Comparison between braking and steering yaw moment controllers considering ABS control aspects

“…(1)-(3) is 1, 2, 3 and 4, and represents the front left, front right, rear left, and rear right wheels, respectively. m total is the total mass of the vehicle, which consists of the sprung mass (m s ), front unsprung mass (m uf ), and rear unsprung mass (m ur ) [5,8].…”

“…These handling improvements provide better maneuverability at low speeds and reduce the delay in path tracking by setting the rear wheel steering angle in the direction opposite to the front wheel steering angle. At high speeds, four-wheel steering systems improve vehicle stability by turning all the wheel steering angles in the same direction, leading to greater passenger relaxation [4,5].…”

Brake performance evaluation of ABS with sliding mode controller on a split road with driver model

“…This is primarily because SMC has robust control specification for the nonlinearity and uncertainty of the vehicle. [11][12][13]25 This paper focuses on the implementation of a SMC for ABS into a real ABS hardware. A HILS system has been also consisted of the actual hydraulic unit, commercial ABS-ECU, and real-time system for validating the designed sliding mode ABS controller.…”