Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System

The inherent flexibility of hierarchical structure scheme with main-servo loop control structure is proposed to the problem of integrated chassis control system for the vehicle. It includes both main loop, which calculates and allocates the aim force using the optimal robust control algorithm and se...

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Bibliographic Details
Published in:IEEE access 2017, Vol.5, p.6649-6660
Main Authors: Zhang, Rong-Hui, He, Zhao-Cheng, Wang, Hai-Wei, You, Feng, Li, Ke-Ning
Format: Article
Language:English
Subjects:
Actuators
Brakes
Chassis
constrained hybrid genetic algorithm
Control algorithms
Control methods
Control systems
Control theory
Force
Friction
Genetic algorithms
Main-servo loop control structure
Mathematical analysis
nonlinear sliding mode control
Parameter identification
parameters identification
Robust control
Self tuning
Servocontrol
Sliding mode control
Slip
Structural hierarchy
tire-road friction control
Tires
Tracking
Vehicle dynamics
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Summary:The inherent flexibility of hierarchical structure scheme with main-servo loop control structure is proposed to the problem of integrated chassis control system for the vehicle. It includes both main loop, which calculates and allocates the aim force using the optimal robust control algorithm and servo loop control systems, which track and achieve the target force using the onboard independent brake actuators. In fact, for the brake actuator, the aim friction is obtained by tracking the corresponding slip ratio of target force. For the coefficient of tire-road friction varying with different road surface, to get the nonlinear time-varying target slip ratio, the most famous quasi-static magic formula is proposed to estimate and predict real-time coefficient of different road surface and the constrained hybrid genetic algorithm (GA) is used to identify the key parameters of the magic formula on-line. Then, a self-tuning longitudinal slip ratio controller (LSC) based on the nonsingular and fast terminal sliding mode (NFTSM) control method is designed to improve the tracking accuracy and response speed of the actuators. At last, the proposed integrated chassis control strategies and the self-tuning control strategies are verified by computer simulations.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2017.2669263