Analysis of Braking Force Compensation Strategy Based on
Coefficient of Friction Identification

doi:10.3969/j.issn.1674-0696.2018.11.21

Journal of Chongqing Jiaotong University(Natural Science) ›› 2018, Vol. 37 ›› Issue (11): 133-138.DOI: 10.3969/j.issn.1674-0696.2018.11.21

• Vehicle &Electromechanical Engineering • Previous Articles

Analysis of Braking Force Compensation Strategy Based on Coefficient of Friction Identification

XIAO Pei, LONG Xiang, HU Jian

(School of Mechanical and Electronic Engineering,Wuhan University of Technology, Wuhan 430070, Hubei，P.R.China)

Received:2017-04-20 Revised:2017-10-09 Online:2018-11-19 Published:2018-11-19

考虑路面附着系数的车辆差动制动控制策略

肖佩，龙祥，胡剑

(武汉理工大学机电工程学院，湖北武汉 430070)

作者简介:肖佩(1962—)，男，湖北武汉人，教授，博士，主要从事汽车主动安全控制技术研究等方面的工作。E-mail：peixiao_wh@163.com。通信作者：胡剑(1980—)，男，安徽合肥人，教授，博士，主要从事汽车主动安全控制技术研究等方面的工作。E-mail：hujian@whut.edu.cn。
基金资助:
国家自然科学基金项目(51305313)；武汉市国际科技合作计划项目(2016030409020224)

Abstract

Abstract: In order to avoid the resulting wagging tail and other accidents that caused by the low adhesion or variation of the road surface, an online identification module for the tire-road friction can be added to the vehicle to improve the vehicle active safety performance. An online identification module for tire-road friction was designed based on the recursive least squares method. And then differential braking strategies were analyzed based on the tire-road friction. The proposed strategy was validated by Simulink/Carsim co-simulation, and the results show that the modified strategy improves the control accuracy of differential braking and driving stability .

Key words: vehicle engineering, tire-road friction, differential braking, control strategy, driving stability

摘要： 为了避免由于路面附着系数过低或突变而导致的车辆摆尾等事故，可为车辆增设路面附着系数在线辨识模块，提升车辆主动安全性能。建立路面附着系数辨识模型，基于递推最小二乘法，实现路面附着系数的在线辨识；考虑路面附着系数的影响，提出差动制动控制策略；通过Simulink/Carsim联合仿真，验证所提出差动制动控制策略的优越性。结果表明，修正后的控制策略提高了车辆差动制动性能，提高了车辆的行驶稳定性。

关键词: 车辆工程, 附着系数, 差动制动, 控制策略, 行驶稳定性

CLC Number:

U463.1

XIAO Pei, LONG Xiang, HU Jian. Analysis of Braking Force Compensation Strategy Based on Coefficient of Friction Identification[J]. Journal of Chongqing Jiaotong University(Natural Science), 2018, 37(11): 133-138.

肖佩，龙祥，胡剑. 考虑路面附着系数的车辆差动制动控制策略[J]. 重庆交通大学学报（自然科学版）, 2018, 37(11): 133-138.

References

［1］李海辉. 基于差动制动的客车电子稳定系统控制策略研究［D］.西安:长安大学, 2014.
LI Haihui. Research on Control Strategy of Differential Brakingbased Bus Dynamics Stability［D］. Xian: Changan University,
2014.
［2］ YIM S. Design of a robust controller for rollover prevention with active suspension and differential braking［J］. Journal
of Mechanical Science and Technology, 2012, 26(1):213-222.
［3］ PAUL D, VELENIS E, CAO D. Tire road friction estimation based braking force distribution for AWD electrified vehicles with a
single electric machine［C］// International Conference on Sustainable Energy Engineering and Application. IEEE, 2016:82-87.
［4］桑楠,魏民祥. 车辆主动前轮转向与直接横摆力矩自适应控制［J］. 交通运输工程学报，2016,16(3): 91-99.
SANG Nan, WEI Minxiang.Adaptive control of vehicle active front wheel steering and direct yaw moment［J］.Journal of
Transportation Engineering, 2016,16 (3): 91-99.
［5］李遥, 管西强, 张建武. 基于轮胎侧偏特性的轮-地摩擦因数估计法［J］. 汽车工程,2013,35(5): 451-456.
LI Yao, GUAN Xiqiang, ZHANG Jianwu. An estimation method of tire road friction coefficient based on tire cornering characteristics
［J］.Auto Motive Engineering, 2013,35(5): 451-456.
［6］ HAHN J O, RAJAMANI R, ALEXANDER L. GPS-based real-time identification of tire-road friction coefficient［J］. Control
Systems Technology IEEE Transactions On, 2002, 10(3):331-343.
［7］席平. 考虑胎体变形的摩擦系数估计［D］. 长春：吉林大学, 2014.
XI Ping. Friction Coefficient Estimation Considering the Carcass Deflection［D］. Changchun: Jilin University, 2014.
［8］ GUSTAFSSON F. Estimation and change detection of tire-road friction using the wheel slip［C］// IEEE International Symposium
on Computer-Aided Control System Design. IEEE, 2013:99-104.
［9］吴诰, 赵克刚, 范刚,等. 附着系数—滑移率曲线的测定［J］. 华南理工大学学报 (自然科学版), 2001, 29(9):20-22.
WU Gao, ZHAO Kegang,FAN Gang，et al. Determination of the slip rate curve of adhesion coefficient［J］. Journal of South China
University of Technology(Natural Science Edition), 2001, 29(9):20-22.
［10］龚节坤. 基于实时路面附着条件的跟驰模型研究［D］. 哈尔滨：哈尔滨工业大学, 2015.
GONG Jiekun. The Research of Car Following Model Based on Realtime Road Surface Adhesion Condition［D］. Harbin： Harbin Institute
of Technology, 2015.
［11］刘金琨. 系统辨识理论及MATLAB仿真［M］.北京：电子工业出版社, 2013.
LIU Jinkun.System Identification Theory and MATLAB Simulation［M］. Beijing:Publishing House of Electronics Industry, 2013.
［12］陈松, 夏长高, 孙旭,等. 基于滑膜变结构车辆稳定性控制的仿真研究［J］. 重庆交通大学学报(自然科学版), 2013, 32(4):701-704.
CHEN Song, XIA Changgao,SUN Xu, et al. Simulation of automobile stability control based on sliding mode control［J］. Journal of
Chongqing Jiaotong University(Natural Science), 2013, 32(4):701-704.
［13］陈炯, 王会义, 宋健,等. 基于滑移率和减速度的ABS模糊控制仿真研究［J］. 汽车工程, 2006, 28(2):148-151.
CHEN Jiong, WANG Huiyi,SON Jian，et al. A study on ABS fuzzy control based on wheel slip rate and deceleration［J］. Automotive
Engineering, 2006, 28(2):148-151.

[1]	XIN Liang1,2, DU Zixue1, YANG Zhen2, XU Zhouzhou2. Active Control of the Straddle-Type Monorail Vehicle with Single-Axle Bogie [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(07): 123-127.
[2]	ZHANG Dongdong, ZONG Zichun, FENG Jinzhi. Multi-objective Optimization of Shift Law for Two-Gear AMT Based on NSGA-Ⅱ Algorithm [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(07): 128-135.
[3]	LI Shengyong1, ZHANG Zhihua1, WANG Shengnan2, WANG Meng2. Defect Recognition Algorithm for Vehicle Metal Materials [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(07): 136-144.
[4]	DU Zixue, WU Haoxin. Influence of Suspension Parameters on Air Gap Stability and Running Stability of Linear Motor Straddle Monorail Vehicle [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(06): 124-129.
[5]	DENG Mingyang1,2，GUO Yingshi1. Interpolation Coupling Wireless Charging Technology for Electric Vehicles [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(06): 130-135.
[6]	DU Zixue, MA Chuanxiang. Operation Stability Analysis of Articulated Straddle Monorail Train [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(05): 122-128.
[7]	YU Man, ZHAO Weihua, WU Ling, LI Yuhan. Working Condition of Electric Vehicle Based on K-Mean Clustering and Support Vector Machine [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(05): 129-139.
[8]	CAO Yuanwen1, CHEN Zuo1, ZHAO Jiang2, ZHANG Xiaoqiang3, ZHENG Tingting4. Driving Stability of Wheel Loader under Multiple Road Conditions [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(05): 140-146.
[9]	DU Zixue, WU Haoxin, YANG Zhen. Curve Negotiation Performance of Linear Motor Straddle Monorail Vehicle [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(04): 127-132.
[10]	DENG Tao1, LI Xin2. Combined Control Method of Intelligent Vehicle Longitudinal and Lateral Motion [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(04): 133-140.
[11]	LI Yaohua, LIU Yang, SONG Weiping, SHAO Pandeng, REN Tianyuan. Components Durability Test Conditions Based on Driving Condition [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(04): 141-146.
[12]	LIU Zhen1,3, LIN Xin1,2, WU Huawei1,3, YE Congjin1,3, GENG Xiangyang4. Design of IGBT Heat Dissipating Fin Structure Based on STAR-CCM+ [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(03): 128-134.
[13]	LI Jun, ZHANG Jun, ZHANG Shiyi. Lithium Battery SOC Estimation Based on ABP-EKF Algorithm [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(03): 135-140.
[14]	HAO Gang1, 2, JIN Tao1. Performance Degradation Assessment of Rolling Bearings Based on Hidden Markov Model [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(02): 123-128.
[15]	LIU Chaotao, DI Kehong, DU Zixue, YANG Zhen. Active Control of Straddle Monorails Pantograph-Catenary Coupling [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(02): 129-135.

Analysis of Braking Force Compensation Strategy Based on Coefficient of Friction Identification

考虑路面附着系数的车辆差动制动控制策略

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics