Valentin Ivanov

A Survey of Traction Control and Antilock Braking Systems of Full Electric Vehicles With Individually Controlled Electric Motors

Wheel slip control for ground vehicles with individually controlled electric motors can be realized with strategies that can significantly differ from the conventional antilock braking system (ABS) and traction control (TC) system. This paper provides a review of state-of-the-art technology and recent developments in TC and ABSs using the actuation of electric motors. Particular attention is paid to the realization of slip estimators, the formalization of torque demand, and the control methods applied for the implementation of TC and ABSs. The performed analysis allowed for the differentiation of several most elaborated methods for slip and torque control and defining still imperfectly investigated problems to be covered by the further development of TC and ABSs for full electric vehicles.

Hardware-in-the-loop test rig for integrated vehicle control systems

Abstract The paper introduces the architecture and technical realization of the hardware-in-the-loop (HIL) platform designed specifically for development and testing of integrated vehicle control systems. Starting with the formulation of functional and configuration requirements, the work explains a concept of new HIL test rig and describes its main components. The proposed HIL platform allows integrated testing of different configurations of brake systems, steering, and dynamic tyre pressure control. The case study illustrates operation of the test rig.

Vehicle dynamics control with energy recuperation based on control allocation for independent wheel motors and brake system

This work proposes an optimal control allocation method for the brake system and the wheel motors of an electric vehicle. The realisation of the method is proposed for vehicle dynamics control and energy recuperation. The control allocation takes into account temperature of electric motors, SOC and voltage of battery, vehicle velocity, fault situations, wheel slip, and vehicle subsystem prioritisation depending on parameters of vehicle dynamics. To illustrate the functional properties of the control allocation method, the corresponding simulation study is performed for the straight-line braking and ‘sine with dwell’ cornering. The simulations use a number of mathematical models including the 14 DoF model of vehicle motion and the models of electric vehicle systems. The simulation results confirmed effectiveness of the proposed approach both for regenerative braking and vehicle stability.

Advancement of Vehicle Dynamics Control with Monitoring the Tire Rolling Environment

One of the most important challenges for electronic stability control (ESC) systems is the identification and monitoring of tire rolling environment, especially actual tire-road friction parameters. The presented research considers an advanced variant of the ESC system deducing the mentioned factors based on intelligent methods as fuzzy sets.

Project Adtyre: Towards Dynamic Tyre Inflation Control

The paper presents the results of the research project ADTYRE that is concentrated on the development of dynamic tyre pressure control systems (TPCS) with the aim to reduce rolling resistance and to improve driving safety. The project is coordinated by the Ilmenau University of Technology (Germany) in cooperation with Gumpert Sportwagenmanufaktur GmbH (Germany), senTec Elektronik GmbH (Germany), Vilnius Gediminas Technical University (Lithuania), and Szent Istvan University (Hungary). The paper covers the following content: (1) State-of-the-art of tyre pressure monitoring and control systems; (2) Simulation study to estimate the potential of high-dynamic tyre pressure adaptation to the actual driving situation and operational state of the tyres; (3) TPCS design procedure using complex simulation tool (AMESim, IPG CarMaker); (4) Design of a data acquisition system with high sampling rate to monitor the tyre pressure and temperature; (5) Functional validation of the TPCS approach with experiments on the test rig and real car. Results of the laboratory and vehicle testing point out that the developed dynamic tyre pressure control system has an evident potential in increasing the vehicle safety and performance.

Vehicle dynamics with brake hysteresis

This paper studies hysteresis of vehicle brakes and its influence on the vehicle dynamics. The experimental investigation clearly shows the non-linear and asymmetric characteristics of hysteresis of the disk brakes in passenger cars. A computational model of the brake mechanism with hysteretic elements, based on the Bouc–Wen method, is developed and verified with experimental data. Using the developed model, the influence of hysteresis on the vehicle dynamics during straight-line braking with an anti-lock braking system is analysed. It is also observed that the variations in the hysteresis parameters have important influences on the main vehicle brake characteristics such as the stopping (brake) distance, the time of braking and the average deceleration. A comparative analysis of the simulation results is also given for braking with zero hysteresis or with hysteresis represented as a signal delay and linear function.

Investigation into tyre-road interaction based on fuzzy logic methods

The paper discusses fuzzy logic applications to solve the problems connected with determination of friction properties by tyre-road interaction. Identification of tyre friction coefficient is considered on the basis of fuzzy controllers using wheel slip and environmental parameters as well as the vehicle dynamic and kinematic characteristics. In addition, the paper briefly reviews the implementation of fuzzy neural networks for the matter in hand.

Electric vehicles with individually controlled on-board motors: Revisiting the ABS design

The paper introduces the anti-lock braking system (ABS) designed for the all-wheel drive full electric vehicle equipped with four on-board motors. The main features of the ABS under consideration are (i) continuous wheel slip control with feedforward and feedback controller parts, and (ii) versatile actuation architecture realizing pure electric braking, braking with electro-hydraulic decoupled brake systems, and blended braking with operation both of friction brakes and electric motors in regenerative mode. Results of ABS validation demonstrate essential benefits of the developed control strategy for brake performance, precise wheel slip tracking, and drive comfort at braking. Adaptive properties of the proposed ABS are discussed for test cases including the transient road friction.

Alterable fuzzy sets in automotive control applications

This paper discusses the application of fuzzy sets with dynamically alterable membership functions for automotive control systems. The proposed method covers the building of control algorithms based on fuzzy logic with adjustment of the input and output variable descriptions during the control object operation. An application of alterable fuzzy sets is considered by the examples of two variants for the control processes with the different persistence of fuzzy object. In the former case, the wheel slip control in an active safety system is investigated. The second solution is considered for monitoring of tyre/surface friction properties in Intelligent Transportation Systems (ITSs). The simulation results obtained on Virtual Proving Ground (VPG) illustrate theoretical aspects of the presented research work.

Intelligent control for ABS application with identification of road and environmental properties

The paper discusses conceptual solutions for intelligent algorithms of antilock braking systems (ABS) and other active safety systems. The intelligent control of wheel rolling in braking mode can be organised using the fuzzy logic procedures and statistical regularities of tyre-road interaction, together with the data processing of information from on- and off-board sensors. The possibility for identification of road and environmental properties in a way to create the adaptive, self-learning algorithms is distinctive feature of proposed control strategy. The structure of rules and decision-making procedures for a variant of such control system is presented. The results of simulation are given for the proposed intelligent ABS algorithm, as applied to middle class city bus.