Research on Tire Longitudinal-vertical Coupling State Observation and Slip Ratio Control under Bumpy Road

doi:10.3901/JME.2021.12.062

Abstract

Abstract: In the emergency braking of the vehicle on bumpy road, due to the up and down movement of the tires, the traditional Anti-lock Braking System tends to frequently pressurize and decompress in order to ensure the wheel slip ratio, resulting in inadequate braking force and even dangerous accidents. Tire longitudinal-vertical coupling state observation and the modified slip ratio control based on this are the basis for solving the above problems. Based on the 12-degree-of-freedom longitudinal-vertical coupling dynamics model of the vehicle and the output information of the Electrically Controlled Air Suspension, a Kalman filter is used to observe the vertical tire displacement and the longitudinal reference speed in real time. Considering the up and down movement of the tires on bumpy roads and the pressure dynamic response characteristics of the Electronic-pneumatic Braking System, a modified slip ratio control strategy based on sliding mode theory is proposed. Simulation and hardware-in-the-loop test results show that compared with the traditional slip ratio control method, the scheme proposed in this study can accurately estimate the vertical tire displacement and the longitudinal reference speed, effectively improve the braking intensity during emergency braking on bumpy road, thereby improve the braking safety.

Key words: bumpy road, tire longitudinal-vertical coupling, state observation, reference speed, slip ratio control

CLC Number:

U469

LI Quantong, WANG Xiangyu, ZHANG Bangji, LI Liang, PEI Yuxuan, PING Xianyao. Research on Tire Longitudinal-vertical Coupling State Observation and Slip Ratio Control under Bumpy Road[J]. Journal of Mechanical Engineering, 2021, 57(12): 62-73.

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