An Investigation of Longitudinal Tyre Force Observation for Slip Control System Development
Paper i proceeding, 2019

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.

State Observer

Longitudinal Tyre Force

Wheel Dynamics

Brake

Författare

Shenjin Zhu

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Leon Henderson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Edo Drenth

Fredrik Bruzelius

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Bengt J H Jacobson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

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

Styrkeområden

Transport

Ämneskategorier

Infrastrukturteknik

Farkostteknik

Reglerteknik

Mer information

Skapat

2019-07-10