Performance Review of Three Car Integrated ABS Types: Development of a Tire Independent Wheel Speed Control

Margherita Montani, Daniele Vitaliti, Renzo Capitani and Claudio Annicchiarico
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Margherita Montani: Department of Industrial Engineering of Florence, University of Florence, 50139 Florence, Italy
Daniele Vitaliti: Meccanica 42 s.r.l., Florence University Incubator, 50019 Sesto Fiorentino, Italy
Renzo Capitani: Department of Industrial Engineering of Florence, University of Florence, 50139 Florence, Italy
Claudio Annicchiarico: Meccanica 42 s.r.l., Florence University Incubator, 50019 Sesto Fiorentino, Italy

Energies, 2020, vol. 13, issue 23, 1-18

Abstract: This study concerns the development and testing of three types of Anti-lock Brake Systems (ABS): a standard on-off wheel’s acceleration control; a wheel’s longitudinal slip controller based on a discrete Proportional-Integral-Derivative (PID) control; and a novel type of ABS that involves controlling the wheel’s speed through a discrete PID. This work was developed inside a wider project that will lead to the implementation of stability control systems in a prototype car. For this reason, the typologies of ABS must not require extra sensors compared to those in standard vehicles: Inertial Measurement Unit (IMU) and 4-wheel speed sensors. Furthermore, they must be easily integrated with other controls and electronic components in terms of sampling time and values. The standard ABS seems more appropriate than the others two because it uses only parameters defined by sensors and it has a simple architecture that does not have the problem of computational time. However, in recent years, cars have been equipped with Electro-Hydraulic-Braking (EHB) units that improve the performance of the system controls. In fact, it is possible to use a control that allows actuators to follow a continuous target and smooth out pressure actions. Even if the longitudinal Slip Controller has a simple architecture and uses a PID control, it is limited to using quantities estimated instead of measured: the tires’ friction coefficient, the tires’ longitudinal stiffness, and the car’s speed. Therefore, the use of a Wheel Speed Controller is the right compromise to link the advantages of both controllers by following the braking pressure continuously and not needing to know the condition and properties of the tires. The results of tests carried out in a Hardware-In-the-Loop (HiL) system are showed and involved a complex vehicle model implemented in real-time.

Keywords: longitudinal control; ABS; vehicle stability control; discrete PID; wheel speed control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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