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Application of Fuzzy Control Algorithms for Electric
Vehicle Antilock Braking/Traction Control Systems
By
P. Khatun, C. M. Bingham, Member, IEEE, N. Schofield, and P. H. Mellor
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 52, NO. 5,SEPTEMBER 2003
Prepared & PresentedBY
VISHAL IYER
Roll No : C016, B.Tech Electronics
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Anti-lock braking system (ABS) is an automobile safety system that allows the wheels on motor
vehicle to maintain tractive contact with the road surface according to driver inputswhile braking preventing the wheels from locking up (ceasing rotation) and avoiding
uncontrolled skidding. It is an automated system that uses the principles of threshold
braking and cadence braking which were practiced by skillful drivers with previous generation
braking systems. It does this at a much faster rate and with better control than a driver could
manage.
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ABSTRACT
implementation of a fuzzy logic based controller to control the wheel slip
for electric vehicle antilock braking systems (ABSs).
The results indicate that ABS/traction control may substantially improve
longitudinal performance and offer significant potential for optimal
control of driven wheels, especially under icy conditions where classical
ABS/tractio control schemes are constrained to operate very
conservatively
A key aim of the research has been to establish a practical understanding
of the ability of fuzzy logic schemes to control ABSs with significant, time-
varying nonlinear dynamics
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I. INTRODUCTION
II. TRACTION CONTROL/ANTILOCK BRAKING
SYSTEMS
III. EXPERIMENTAL TEST FACILITY
IV. FUZZY LOGIC ABS/TRACTION CONTROL
V. RESULTS VI. CONCLUSION
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INTRODUCTION
The application of fuzzy-based control strategies has recently gained
enormous recognition as an approach for the rapid development of
effective controllers for nonlinear time-variant systems.
FUZZY logic, or the use of fuzzy sets, allows uncertain or inexact concepts
to be represented.
ABSs aim to control the wheel slip at an optimum value that can provide
maximum tractive force during heavy braking.
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OBSTACLES
brake torque at the wheel is nonlinearly related to the temperature of the
brake linings
viscosity of the brake fluid changes with temperature
real-time estimation of the wheel-slip versus adhesion-coefficient
characteristics for different tire types and road surface conditions commercial IC-engine vehicles is that the realizable performance is often
limited by the mechanical bandwidth of the active actuation systems
(typically 20 Hz for ABS).
advent of electrically powered vehicles into the marketplace, the means
for controlling drive-torque at much greater bandwidths is possible,
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TRACTION CONTROL/ANTILOCK
BRAKING SYSTEMS
tractive force
dependent on tire characteristics (compound, wear, aging, etc.) and roadsurface conditions (dry, icy, gravel, tarmac, etc.)
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a function of the relative slip between the two contacting surfaces. slip is the normalized difference between the wheel speed and vehicle
speed at the contact point
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The objective of an ABS is to manipulate the torque applied to
the driven wheels in order to limit the slip between the road
surface and the tire
A second obstacle often encountered by designers of TC/ABS
schemes is the availability of appropriate test-tracks/skid-pans
or other experimental rolling road facilities to evaluate
proposed algorithms and provide repeatable conditions for
comparative studies
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III. EXPERIMENTAL TEST FACILITY
6-kW continuous
12-kW peak rated brushless permanent magnet motor supplied via a
power controller from a 72-V high-performance nickel cadmium traction
battery
Efficiency of 92% prototype electric vehicle, the traction motor is connected to the wheels
via a step-down gearstage.
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FUZZY LOGIC ABS/TRACTION CONTROL
a fuzzy-based methodology is employed to develop control algorithms
The key advantage of fuzzy control is that there are many instances where
TRUE and FALSE or ON and OFF fail to describe a given situation. These
cases require a sliding scale where variables can be measured as PARTLY
ON or MOSTLY TRUE and PARTLY FALSE
observing the load torque presented to the induction machine is
analogous to estimating the tractive force between the tire and the road
surface on a vehicle, and hence, is directly related to
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RESULT
The fuzzy control scheme has been implemented with an experimental
setup (at 60-V phase voltage) analogous to a vehicle travelling on a dry
road surface.
T i f i t d t t
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Tuning of input and output
preturbing for optimisation for lower
values
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Further tuned for optimal control
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CONCLUSION
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