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Westerhof, B. och Kalakos, D. (2017) Heavy Vehicle Braking using Friction Estimation for Controller Optimization. Göteborg : Chalmers University of Technology (Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, nr: 2017:69).
BibTeX
@mastersthesis{
Westerhof2017,
author={Westerhof, Bernhard and Kalakos, Dimitrios},
title={Heavy Vehicle Braking using Friction Estimation for Controller Optimization},
abstract={In this thesis project, brake performance of heavy vehicles is improved by the development of new wheel-based
functions for a longitudinal slip control braking system using novel Fast Acting Braking Valves (FABVs). To
achieve this goal, Volvo Trucks' vehicle dynamics model has been extended to incorporate the FABV system.
After validating the updated model with experimental data, a slip-slope based recursive least squares friction
estimation algorithm has been implemented. Using information about the tire-road friction coecient, the
sliding mode slip controller has been made adaptive to di erent road surfaces by implementing a frictiondependent
reference slip signal and switching gain for the sliding mode controller. This switching gain is further
optimized by means of a novel on-line optimization algorithm. Simulations show that the on-line friction
estimation converges close to the reference friction level within one second for hard braking. Furthermore,
using this information for the optimized controller has resulted in reduction of braking distance on most road
surfaces of up to 20 percent, as well as in most cases a reduction in air usage.},
publisher={Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system, Chalmers tekniska högskola},
place={Göteborg},
year={2017},
series={Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, no: 2017:69},
keywords={Heavy Vehicles, Emergency Braking, Friction Estimation, Controller Optimization, Vehicle Validation, Slip Control Braking, Vehicle Testing},
}
RefWorks
RT Generic
SR Electronic
ID 251220
A1 Westerhof, Bernhard
A1 Kalakos, Dimitrios
T1 Heavy Vehicle Braking using Friction Estimation for Controller Optimization
YR 2017
AB In this thesis project, brake performance of heavy vehicles is improved by the development of new wheel-based
functions for a longitudinal slip control braking system using novel Fast Acting Braking Valves (FABVs). To
achieve this goal, Volvo Trucks' vehicle dynamics model has been extended to incorporate the FABV system.
After validating the updated model with experimental data, a slip-slope based recursive least squares friction
estimation algorithm has been implemented. Using information about the tire-road friction coecient, the
sliding mode slip controller has been made adaptive to di erent road surfaces by implementing a frictiondependent
reference slip signal and switching gain for the sliding mode controller. This switching gain is further
optimized by means of a novel on-line optimization algorithm. Simulations show that the on-line friction
estimation converges close to the reference friction level within one second for hard braking. Furthermore,
using this information for the optimized controller has resulted in reduction of braking distance on most road
surfaces of up to 20 percent, as well as in most cases a reduction in air usage.
PB Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system, Chalmers tekniska högskola,PB Extern, UPL-instans,
T3 Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, no: 2017:69
LA eng
LK http://publications.lib.chalmers.se/records/fulltext/251220/251220.pdf
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