Fuzzy Logic
Fuzzy Logic
Fuzzy Logic
Te
Fz
Fz
Rw
Tb
I. INTRODUCTION
1.2
and Ftr developed by the front and rear tire, respectively are
proportional to the normal forces of the road acting on the tire
( Fzf and Fzr ) as illustrated in Fig. 1. The coefficient of
Dry asphalt
0.8
Wet asphalt
0.6
0.4
Icy asphalt
0.2
Manuscript received June 30, 2007. Roozbeh Keshmiri is with the member
of Young Researchers Club, Tabriz Islamic Azad University, and member of
IAUT-CRL (computer Research Laboratory), Tabriz, Iran (phone: +98 914
411 1418; e-mail: roozbeh.keshmiri@gmail.com).
Ali M. Shahri is with the Electronic Research Center, Iran University of
Science and Technology, Narmak, Tehran, 16844, Iran (phone: +98 21
73913704; fax: +98 21 77893174; e-mail: shahri@iust.ac.ir ).
0.2
0.4
0.6
( ) Wheel slip
0.8
292
1.2
The front and rear tractive forces are denoted Ftf and Ftr
respectively. The total tractive force, denoted Ftot , is;
Ftot = Ftf + Ftr
Ftf = ( f ) Fzf , Ftr = ( r ) Fzr
Where
Fzf and Fzr are normal forces acting on the front and rear
of the wheel slip . For the front tire, = f while for the
V wR w
wR w
= 1
V
V
Where V is the vehicle velocity, w is the angular velocity of
the tire, and R w is the radius of the tire. It should be noted that
0 1 and it is common to present the values of in
percent.
Wheel lockup occurs when = 100% or ( = 1 ) which
equivalently, means the angular velocity of wheel is w = 0 .
However, as can be seen in Fig. 2, a wheel lockup does not
have the maximum coefficient of adhesion, and thus, does not
lead to the maximal braking force. The maximum braking
force is achieved when the wheels are slipping. For example,
in Fig. 2, for an icy road, the maximal braking force is
achieved when the wheel slip is about 1. It also should be
noted that tractive force is a functions of normal force and
there are two components in the normal force. One component
is due to the mass distribution of the vehicle, while the other
component comes from the mass transfer of the vehicle. Based
on the vehicle dynamics equations and performing some
manipulations, we obtain;
ms
hs
mr
mf
hr
hf
Ftr
a Ftf
TABLE I
VEHICLE BRAKE SYSTEM DATA
acceleration due to gravity
9.81m/s2
1.186m
1.258m
hs
0.6 m
hf
m
0.3 m
0.3 m
m3 = (m f h f + m s h s + m r hr ) /( a + b)
mtot
1500 kg
ms
1285 kg
mf
96 kg
mr
119 kg
Jf
1.7 gm2
Jr
1.7
kgm2
Rw
radius of tire
0.326 m
Te
engine torque
0 Nm
K br
0.5
x = g
( f )m1 + ( r )m3
mtot ( f )m3 + ( r )m3
(1)
Where
m1 = bmtot /(a + b) ,
m 2 = amtot /(a + b) ,
x1 = x, x 2 = x , x 3 = w f , x 4 = wr
Therefore, the vehicle brake state space model and its
output could be presented as follow,
x1 = x2
x = f = g ( f )m1 + (r )m2
2
2
mtot + m3 ( (r ) ( f ))
1
x3 = f 3 = 2 J (Tbf + ( f )m1Rw g ( f ) m3 Rw x2 + Te )
f
1
(Tbr + (r )m2 Rw g + (r ) m3 Rw x 2 )
x 4 = f 4 =
2J f
293
(2)
y = x1 , x 2 , f , r
]T
is the optimal torque of each surface that results from the first
and third outputs of FLC3. This error for front and rear wheels
is;
eTbf = Tbfref Tbf (t 1)
(3)
FLC1
Front
Wheel
Tbf (t 1)
+-
zero
-2500
pos
vpos
-5000
2500
5000
Tbf
+
+
Tbf (t 1)
Slip
f
reference
+-
Vehicles
Accelerate
neg
Front optimum
torque
+-
FLC3
vneg
FLC2
Rear
Wheel
+Rear optimum
torque T (t 1)
+
+
Tbr
vneg
Tbr (t 1)
neg
zero
pos
vpos
br
-5000
-2500
2500
5000
e r (t ) = rref r (t )
neg
zero
pos
vpos
-1
-0.6
0.6
294
big
vbig
-10
medium
small
vsmall
-5
Without ABS
IcyWet
Wet
Wetdry
Time (sec)
Fig. 12 Plots of the vehicle position on the surface changing from dry
asphalt to wet asphalt after 10m and icy asphalt after 20m for three
different of braking systems
Dry
1000
2000
3000
Velocity (m/s)
3500
Icy
IcyWet
Wet
Wetdry
Proposed ABS
Time (sec)
Wheel slips ()
1.5
Fig. 13 Plots of the vehicle velocity on the surface changing from dry
asphalt to wet asphalt after 10m and icy asphalt after 20m for
different of braking maneuvers
Dry
Without ABS
0.2
Time (sec)
295
Wheel slips ()
Brake torque
Figs. 15 and 16 illustrate the wheel slips for front and rear
wheels.
Time (sec)
Wheel slips ()
Brake torque
Fig. 15Plot of front wheel slip on brake with fixed slip ABS
Time (sec)
Time (sec)
Fig. 16 Plot of rear wheel slip on brake with fixed slip ABS.
Acceleration (m/s2)
Time (t)
V. CONCLUSION
Time (sec)
Wheel slips ()
Time (sec)
REFERENCES
[1]
296
[2]
297
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