Research on a coordinated cornering brake control of three-axle heavy vehicles based on hardware-in-loop test

作     者：Li, Shaohua Zhao, Junwu Yang, Shaopu Fan, Haoyang 

作者机构：Shijiazhuang Tiedao Univ Sch Mech Engn 17 NortheastSecond Inner Ring Shijiazhuang 050043 Hebei Peoples R China 

出 版 物：《IET INTELLIGENT TRANSPORT SYSTEMS》 (IET Intel. Transport Syst.)

年 卷 期：2019年第13卷第5期

页      面：905-914页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0823[工学-交通运输工程] 

基　　金：National Natural Science Foundation of China [11472180, 11602153] Central Guide to Local Science and Technology Development Project [18242219G] 

主　　题：axles tyres braking stability road safety variable structure systems steering systems road vehicles pneumatic systems motion control velocity control control engineering computing hardware-in-the loop simulation coordinated cornering brake control three-axle heavy vehicles three-axle vehicle proportional-integral method Dugoff tire model ABS control sliding mode controllers handling stability braking safety yaw moment controller optimal allocation antilock braking system wheel slip ratio TruckSim MATLAB Simulink pneumatic braking hardware-in-loop test system 

摘      要：A direct yaw moment controller/anti-lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three-axle vehicles to improve the handling performance while shortening the brake distance. A proportional-integral method is designed in DYC control. The cornering stiffness of the two-degrees of freedom vehicle model is fitted in real time. The Dugoff tire model is used to establish the relationship between the yaw moment and wheel slip ratio;an optimal allocation method is proposed to allocate the force requirements to each tire. To verify the effect, vehicle responses under various speeds and turning radii are analysed with DYC/ABS coordinated control, ABS control, and no control based on co-simulation of TruckSim and MATLAB/Simulink. According to the chattering caused by sliding mode control, two sliding mode controllers using saturation function and modified exponential reaching law are, respectively, designed to obtain the braking moment in ABS control. A pneumatic braking hardware-in-loop (HIL) test system is developed;the effectiveness of the strategy is verified by experiments. The results show that the coordinated control can reduce lateral acceleration, brake distance, and brake time when the vehicle runs under cornering brake;thus has an excellent effect on balancing the handling stability and braking safety.