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
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.
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