Savaresi Sergio M., Tanelli M. Active Braking Control Systems Design for Vehicles

Springer-Verlag London Limited, 2010. XXI, 255 p. — ISBN: 978-1-84996-349-7, e-ISBN: 978-1-84996-350-3.Active Braking Control Design for Road Vehicles focuses on two main brake system technologies: hydraulically-activated brakes with on–off dynamics and electromechanical brakes, tailored to brake-by-wire control. The physical differences of such actuators enjoin the use of different control schemes so as to be able fully to exploit their characteristics. The authors show how these different control approaches are complementary, each having specific peculiarities in terms of either performance or of the structural properties of the closed-loop system. They also consider other problems related to the design of braking control systems, namely:
longitudinal vehicle speed estimation and its relationship with braking control system design;
tire–road friction estimation;
direct estimation of tire–road contact forces via in-tire sensors, providing a treatment of active vehicle braking control from a wider perspective linked to both advanced academic research and industrial reality.List of AbbreviationsBraking Control Systems Design: Introduction and Modelling
Introduction to Active Braking Control SystemsABSSystems: a Historical Perspective
The Actuators: Main Technologies and Functional Description
TheX-by-wire Approach
State-of-the-art in Active Braking Control Design
Recent Evolutions: Brake-based Global Chassis ControlControl-oriented Models of Braking DynamicsTyre–road Contact Forces
Friction Models
Relaxation Dynamics
The Single-corner Model
The Double-corner Model
Linearised Models and Dynamic Analysis
Single-corner Model Analysis
Double-corner Model AnalysisBraking Control Systems Design: Basic Solutions
Braking Control Systems Design: Actuators with Continuous DynamicsWheel Slip Control
Wheel Deceleration Control
Linear Wheel Slip Controller Design
Effects of Actuator Dynamics
Performance Analysis: a Numerical Example
Activation and Deactivation Logic
Activation Conditions
De-activation Conditions
Slip Controller Analysis Based on the Double-corner Model
Closed-loop Stability Analysis
Controlling the Rear Wheel: Slip versus Relative Slip Control
Wheel Slip Controlon CurvesBraking Control Systems Design: Actuators with Discrete DynamicsProblem Setting
Existence and Stability of Limit Cycles
Limit Cycle Stability Analysis
Effectsof the Actuato rRate-limit Variation
Summaryof theActuators’ PerformanceLongitudinal Wheel Slip EstimationInteraction Between Braking Control and Speed Estimation
ASolution for Vehicle Speed Estimation
Performance Evaluation of the Estimation AlgorithmBraking Control Systems Design: Advanced Solutions
Mixed Slip and Deceleration ControlMixed Slip-deceleration Control
Analysisof theOpen-loop Dynamics
Closed-loop Stability for MSD Control
Disturbance Analysis of Slip Control and MSD Control
Steady-state SlipValues in MSD Control
Numerical AnalysisNonlinear Wheel Slip Control DesignLyapunov-based Wheel Slip Control
Assumptions
Controller Design
Numerical AnalysisIdentification of Tyre–road Friction ConditionsDetection of the Friction-curve Peak by Wheel-deceleration Measurements
Online Detection of the Sign of the Friction Curve Slope
ABS Supervisory Control Logic
Experimental Results
Real-time Identification of Tyre–road Friction Conditions
Identification Strategies
Numerical Analysis
Experimental Results
Direct Estimation of Contact Forces via In-tyreSensorsExperimental Set Up
Main Concept
Signal Processing
Experimental ResultsA Analysis and Synthesis Tools for Dynamical SystemsDynamical Systems Analysis
Stability of Equilibrium Points: Lyapunov’s Theory
Special Case: Second-order Dynamical Systems
Nonlinear DesignToolsB Signal Processing of Wheel EncodersWheel Encoders’ Signals
Velocity Estimation Algorithms
Wheel Radius Calibration
Analysis and Filtering of the Wheel Encoders’ Signal