Einladung zum Vortrag im Kolloquium Technische Kybernetik

Limit cycle analysis for a class of anti-lock brake algorithms

Dr. William Pasillas-Lépine
Laboratoire des signaux et systèmes · CNRS - Supélec · Gif sur Yvette · France

    Zeit: Dienstag · 13. 01. 2004 · 16:00 Uhr
    Ort: Raum V 9.31 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen

Abstract

In the literature, one can distinguish two completely different kinds of anti-lock brake system designs: those based on logic switching from wheel deceleration information and those based on wheel slip regulation.
Approches based on wheel slip regulation have some very nice features: they are often based on a clear mathematical background, the torque applied to the wheel converges to a fixed value (there are no periodic oscillations), and they work even if there is no well-defined maximum point in the friction coefficient curve. Their usage is nevertheless confronted to two difficulties. Firstly, it is not always very clear how one can estimate wheel slip precisely (or equivalently the speed of the vehicle). Secondly, the value of wheel slip for which tyre force is maximal is in general unknown (and not so easy to estimate in real-time).
Approches that use wheel deceleration thresholds also have quite interesting properties: they are very robust with respect to friction coefficient changes and can keep the wheel slip in a neighborhood of the optimal point, without using explicitly its value. But a particularly unpleasant characteristic of these approaches is that they are often based on heuristic arguments, and thus tuning the thresholds involved in this kind of algorithms might be a difficult task.
The aim of the talk is to provide a new class of five-phase ABS algorithms (that use wheel deceleration logic-based switching), a clear mathematical background that explains their behavior, and a simple procedure for calibrating the parameters involved in the proposed control laws. This work has been partially supported by the French company PSA Peugeot Citroen.

Biographical Information

William Pasillas-Lepine received his engineer degree in Applied mathematics from the National Institute for Applied Sciences (INSA de Rouen), and both the M.Sc. and Ph.D., in Applied mathematics and control theory, from the University of Rouen (France). Currently, he has a CNRS research position at Laboratoire des signaux et systemes (Supelec, Gif-sur-Yvette). His main interest is in control of automotive systems.