Vol.9, No 1, 2010 pp. 41 - 58
UDC
681.5.01 62-783.52
SLIDING MODE CONTROL OF
ANTI-LOCK BRAKING SYSTEM: AN OVERVIEW
Dragan Antić1, Vlastimir Nikolić2, Darko Mitić1,
Marko Milojković1, Staniša Perić1
1University of Niš, Faculty of Electronic Engineering, Department of Automatic Control, Aleksandra Medvedeva 14, 18000 Niš, Serbia
2University of Niš, Faculty of Mechanical Engineering, Aleksandra Medvedeva 14,
18000 Niš, Serbia
E-mail: dragan.antic@elfak.ni.ac.rs, darko.mitic@elfak.ni.ac.rs, marko.milojkovic@elfak.ni.ac.rs, stanisa.peric@elfak.ni.ac.rs, vnikolic@masfak.ni.ac.rs
Abstract.
An anti-lock braking system control is a rather difficult problem due to its strongly nonlinear and uncertain characteristics. To overcome these difficulties, robust control methods should be employed such as a sliding mode control. The aim of this paper is to give a short overview of sliding mode control techniques implemented in the control of ABS. The most used control algorithms are applied to a quarter vehicle model to demonstrate the advantages of this control approach. Fast convergence and good performances of the designed controllers are verified through digital simulations and validated in real time applications using a laboratory experimental setup.
Key Words:
antilock braking system, wheel slip, sliding mode control.
UPRAVLJANJE ABS SISTEMOM
POMOĆU KLIZNOG REŽIMA: PREGLED
Upravljanje ABS sistemom je veomа težаk problem zbog njegovih izrazito nelineаrnih i neizvesnih karakteristika. Dа bi se prevаzišli ovi problemi, trebа dа se upotrebe robusne metode upravljanja kаo što su upravljanja uz pomoć kliznih režima. Cilj ovog rаdа je dа pruži krаtаk pregled tehnika upravljanja uz pomoć kliznih režimа koje se primenjuju u kontroli ABS sistema. Nаjčešće upotrebljavani uprаvljаčki аlgoritmi primenjuju se nа model četvrtine vozilа kako bi se pokazale prednosti ovog pristupа upravljanja. Brzа konvergencijа i dobre performаnse dizаjnirаnih kontrolera su verifikovаni kroz digitаlne simulаcije i provereni su na aplikacijama u reаlnom vremenu koristeći laboratorijsku eksperimentalnu opremu.
Ključne reči:
ABS sistem, proklizavanje točka, kližni režim
