A New Slip Algorithm for Use in Hardware-in-the-Loop Simulation to Evaluate Anti Slip Control of Vehicles

Abstract:

Hardware in the Loop (HIL) systems is widely used for testing vehicle controllers in automotive industry. But algorithms for simulation of the vehicle dynamics have to consider the special restrictions for HIL that is a fixed simulation time constant. Due to limitations of computing power the step size often is set to 1ms. Especially for calculation of the wheel slip this will cause a problem when speed starts from zero. Thats why a lot of authors propose a small vehicle speed at the beginning of the simulation. For evaluation of anti slip controllers in HIL systems this is not possible because stand still is the general starting point for the anti slip controller. Different ideas exist in literature to solve this problem but none of them consider the HIL restriction in an overall approach. In this paper a new algorithm for slip calculation is presented. Therefore two different approaches will be analyzed and combined to a new algorithm. Simulation results show the feasibility for HIL systems.

• Periodical: Applied Mechanics and Materials (Volumes 490-491)
• Pages: 740-746
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.490-491.740
• Online since: January 2014
• Authors: Rolf Roskam, Elmar Engels
• Keywords: Anti-Slip-Control, HIL, Wheel Slip

References

[1] J. Li and B. Qu: Research on Acceleration Slip Regulation for Two Wheel Drive Electric Vehicle. Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation August 9-12, Changchun, China, page 807-811.

DOI: 10.1109/icma.2009.5246244

[2] X. Peng, et al: Anti-slip Regulation of Electric Vehicle without Speed Sensor. IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul, Korea July 5-8, 2009, page 222-227.

DOI: 10.1109/isie.2009.5218131

[3] R. Ahlawat et al.: Engine Torque Pulse and Wheel Slip Emulation for Transmission-in-the-loop Experiments. 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Montral, Canada, July 6-9, 2010, page 688-695.

DOI: 10.1109/aim.2010.5695945

[4] N. Noomwongs et al.: Development of Hardware-in-the-Loop Simulator for Analyzing Vehicle Handling and Stability. Proc. of Dynamics and Design Conference (2001).

[5] G. Rill: Wheel Dynamics. Proceedings of the XII International Symposium on Dynamic Problems of Mechanics (DINAME 2007), ABCM, Ilhabela, SP, Brazil, February 26-March 2, (2007).

[6] D. K. Yoo and L. Wang: Model based wheel slip control via constrained optimal algorithm. 16th IEEE International Conference on Control Applications Part of IEEE Multi-conference on Systems and Control Singapore, 1-3 October (2007).

DOI: 10.1109/cca.2007.4389405

[7] M. Tanelli, L. Piroddi and S. M. Savaresi: Real-time identification of tire-road fiction conditions. IET Control Theory and Applications, 2009, Vol. 3, Iss. 7, page 891-906.

DOI: 10.1049/iet-cta.2008.0287

[8] Q. Fu, et al.: Study on Anti-slip Regulation of Quarter Automobile Based on PID Control. 2nd International conference on Consumer Electronics, Communications and Networks (CECNet), Yichang, 21-23. April 2010, page 2111-2114.

DOI: 10.1109/cecnet.2012.6201713

[9] H. Chenguang and J. Peng: A New Wheel Model For Vehicle Dynamic Simulation. 2010 2nd International Conference on Computer Engineering and Technology, Volume 7, page 71-74.

DOI: 10.1109/iccet.2010.5486302

[10] I. Petersen: Wheel Slip Control in ABS Brakes Using Gain Scheduled Optimal Control with Constraints. Dr. Ing. Thesis, Norwegian University of Science and Technology Trondheim, Norway, (2003).

DOI: 10.23919/ecc.2001.7075975

[11] G. Rill: First Order Tire Dynamics. III European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering. Lisbon, Portugal, 5-8 June (2006).