{"title":"ABS control design based on wheel-slip peak localization","authors":"F. Chikhi, A. E. Hadri, J. Cadiou","doi":"10.1109/ROMOCO.2005.201404","DOIUrl":null,"url":null,"abstract":"The optimal control for anti-lock system proposed in this paper consists to search the wheel slip corresponding to the maximum of the tyre-road characteristic curve. This allows maximising the braking tyre forces. In this strategy of control the wheel slip is not imposed but used an algorithm to generated desired optimal wheel sleep. This algorithm is based on a nominal Pacejka tyre model which uses two parameters to give an updated of the tyre model with respect to the real tyre force characteristic. The proposed control method is verified through one-wheel simulation model with a \"magic formula\" tyre model. Simulations results show the effectiveness of this controller scheme.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2005.201404","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 20
Abstract
The optimal control for anti-lock system proposed in this paper consists to search the wheel slip corresponding to the maximum of the tyre-road characteristic curve. This allows maximising the braking tyre forces. In this strategy of control the wheel slip is not imposed but used an algorithm to generated desired optimal wheel sleep. This algorithm is based on a nominal Pacejka tyre model which uses two parameters to give an updated of the tyre model with respect to the real tyre force characteristic. The proposed control method is verified through one-wheel simulation model with a "magic formula" tyre model. Simulations results show the effectiveness of this controller scheme.
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