Open AccessResearch on a coordinated cornering brake control of three‐axle heavy vehicles based on hardware‐in‐loop test
Author(s) -
Li Shaohua,
Zhao Junwu,
Yang Shaopu,
Fan Haoyang
Publication year - 2019
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/iet-its.2018.5406
Subject(s) - axle , brake , automotive engineering , hardware in the loop simulation , loop (graph theory) , control (management) , test (biology) , computer science , computer hardware , engineering , control engineering , embedded system , artificial intelligence , structural engineering , mathematics , biology , paleontology , combinatorics
A direct yaw moment controller/anti‐lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three‐axle vehicles to improve the handling performance while shortening the brake distance. A proportional–integral method is designed in DYC control. The cornering stiffness of the two‐degrees of freedom vehicle model is fitted in real time. The Dugoff tire model is used to establish the relationship between the yaw moment and wheel slip ratio; an optimal allocation method is proposed to allocate the force requirements to each tire. To verify the effect, vehicle responses under various speeds and turning radii are analysed with DYC/ABS coordinated control, ABS control, and no control based on co‐simulation of TruckSim and MATLAB/Simulink. According to the chattering caused by sliding mode control, two sliding mode controllers using saturation function and modified exponential reaching law are, respectively, designed to obtain the braking moment in ABS control. A pneumatic braking hardware‐in‐loop (HIL) test system is developed; the effectiveness of the strategy is verified by experiments. The results show that the coordinated control can reduce lateral acceleration, brake distance, and brake time when the vehicle runs under cornering brake; thus has an excellent effect on balancing the handling stability and braking safety.