WHEEL SLIP CONTROL IN ABS BRAKES USING GAIN SCHEDULED CONSTRAINED LQR外文翻译.pdfVIP

WHEEL SLIP CONTROL IN ABS BRAKES USING GAIN SCHEDULED CONSTRAINED LQR W W*WW WWW WWW Idar Petersen , Tor A. Johansen , Jens Kalkkuhl and Jens Lüdemann SINTEF Electronics and Cybernetics, N-7465 Trondheim, Norway. e-mail: Idar.Petersen@ecy.sintef.no Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 Trondheim, Norway. DaimlerChrysler, Research and Technology, Alt-Moabit 96a, D-10559 Berlin, Germany. Keywords: Automotive control, gain scheduling, nonlinear systems, robustness, stability Abstract A wheel slip controller for ABS brakes is formulated using an explicit constrained LQR design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is dervied using the Riccati equation solution in order to prove stability and robustness with respect to uncertainty in the road/tyre friction characteristic. Experimental results from a test vehicle with electromechanical brake actuators and brake-by-wire show that high performance and robustness are Figure 1: Quarter car forces and torques. achieved. 1 Introduction acceleration. The equations of motion of the quarter car are An anti-lock brake system (ABS) controls the slip of each { (1) wheel to prevent it from locking such that a high friction { e (2) is achieved and steerability is maintained. ABS controllers are characterized by robust adaptiv