TY - JOUR
T1 - Hierarchical control of automotive electric power Steering system and Anti-Lock Brake System
T2 - Theory and experiment
AU - Chen, Wuwei
AU - Xiao, Hansong
AU - Chu, Changbao
AU - Zu, Jean W.
PY - 2012/7
Y1 - 2012/7
N2 - This paper studies integrated control of chassis control systems to achieve the goal of functional integration of the control systems. A two-layer hierarchical control architecture is developed for integrated control of Electric Power Steering (EPS) system and Anti-Lock Brake System (ABS). The upper-layer controller is designed to coordinate the interactions between the EPS system and the ABS. In the lower layer, the two controllers including the EPS system and the ABS are designed independently to achieve their local control objectives. Both a simulation investigation and an on-vehicle experimental study are performed to demonstrate the effectiveness of the proposed hierarchical control system. Simulation results show that the system is able to improve the lateral stability of the vehicle, and at the same time ensure the steering agility and braking performance of the vehicle. Moreover, on-vehicle experiment results conform to the simulation results.
AB - This paper studies integrated control of chassis control systems to achieve the goal of functional integration of the control systems. A two-layer hierarchical control architecture is developed for integrated control of Electric Power Steering (EPS) system and Anti-Lock Brake System (ABS). The upper-layer controller is designed to coordinate the interactions between the EPS system and the ABS. In the lower layer, the two controllers including the EPS system and the ABS are designed independently to achieve their local control objectives. Both a simulation investigation and an on-vehicle experimental study are performed to demonstrate the effectiveness of the proposed hierarchical control system. Simulation results show that the system is able to improve the lateral stability of the vehicle, and at the same time ensure the steering agility and braking performance of the vehicle. Moreover, on-vehicle experiment results conform to the simulation results.
KW - ABS
KW - Anti-Lock Brake System
KW - EPS
KW - Electric power steering system
KW - Hierarchical control
KW - Integrated vehicle dynamics control
UR - http://www.scopus.com/inward/record.url?scp=84863948025&partnerID=8YFLogxK
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U2 - 10.1504/IJVD.2012.047751
DO - 10.1504/IJVD.2012.047751
M3 - Article
AN - SCOPUS:84863948025
SN - 0143-3369
VL - 59
SP - 23
EP - 43
JO - International Journal of Vehicle Design
JF - International Journal of Vehicle Design
IS - 1
ER -