An adaptive fuzzy control to antilock non-straight line braking using three dimensional (finite element) vehicle model

摘要

The objective in this paper is to design a stable and robust adaptive fuzzy logic controller (AFLC) to antilock braking by the consideration of the total range of tyre-road friction. A favourable property of the fuzzy logic controllers (FLC) is that the state equations of the controlled system (plant) are not directly required, nothing but the selected input output signals (variables). Consequently, it is possible to apply well-elaborated and accurate finite element or multibody vehicle models with large number of degrees of freedom to the simulation of controlled vehicle motions. In this paper, a truck finite element model of 2148 degrees of freedom (DOF) is applied as the controlled plant. The braking moments acting on the wheels are controlled with (four) fuzzy controllers in the function of the current slips and change of slips (time rate of slips). Numerical examples, by the consideration of variable road friction, demonstrate the excellent performance of the developed AFLC.