An Investigation of Longitudinal Tyre Force Observation for Slip Control System Development
Paper in proceedings, 2020

Longitudinal tyre force is needed in the feedback control systems for enhancing the decelerating and accelerating properties of road vehicles. There lacks means for its direct measurement. This paper presents a longitudinal tyre force observer, designed on wheel rotating dynamics using the conventional linear control systems theory with wheel speed and drive/brake torque. The observer is formulated firstly in continuous-time and then converted to an implementable form in discrete-time for compatibility with digital electronic control units (ECUs). The effectiveness and applicability of the observer are investigated using numerical simulations and road testing of an 8x4 Volvo truck with each wheel equipped with an ECU consisting of, in C-code, a robust slip control system, a tyre-road friction estimator, a brake pressure observer and the longitudinal tyre force observer for application in an intelligent brake system. The robustness of the observer to parametric uncertainties, e.g., the inertia of moment, effective radius, and brake gain of the wheel, is also examined.

Wheel Dynamics

State Observer

Longitudinal Tyre Force

Brake

Author

Shenjin Zhu

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Leon Henderson

Volvo Group

Edo Drenth

Haldex

Fredrik Bruzelius

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Bengt J H Jacobson

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Lecture Notes in Mechanical Engineering

2195-4364 (ISSN)

1607-1615

26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2019)
Gothenburg, Sweden,

Areas of Advance

Transport

Subject Categories

Infrastructure Engineering

Vehicle Engineering

Control Engineering

DOI

10.1007/978-3-030-38077-9_183

More information

Latest update

4/28/2020