Scholarlink

<p>A sliding mode controller is proposed to regulate the longitudinal slip of each wheel through electric motorization, with the aim of maximizing traction within an ABS system. The control of longitudinal slip is carried out in two stages: initially, the controller adjusts the angular velocity using the braking torque applied to each wheel, and subsequently, this torque is refined through duty cycle modulation when using BLDC motors with an inverter. The tire friction forces are modeled using the nonlinear Magic Formula, and the stability analysis of the sliding mode controller is conducted based on Lyapunov criteria. Additionally, a sliding mode observer is employed to estimate the longitudinal velocity, while a continuous Kalman filter is integrated to eliminate noise in angular velocity measurements and estimate the electromagnetic torque of the electric motor. The controller’s precision is evaluated through numerical simulation.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Dual sliding mode observer and Kalman filter-based nonlinear control of a BLDC actuated in-wheel anti-lock braking system

  • 期刊论文

  • 发表日期：

    2025年4月11日

查看全文
  • Hamza Ben Moussa,
  • Mohammed Bakhti

摘要

A sliding mode controller is proposed to regulate the longitudinal slip of each wheel through electric motorization, with the aim of maximizing traction within an ABS system. The control of longitudinal slip is carried out in two stages: initially, the controller adjusts the angular velocity using the braking torque applied to each wheel, and subsequently, this torque is refined through duty cycle modulation when using BLDC motors with an inverter. The tire friction forces are modeled using the nonlinear Magic Formula, and the stability analysis of the sliding mode controller is conducted based on Lyapunov criteria. Additionally, a sliding mode observer is employed to estimate the longitudinal velocity, while a continuous Kalman filter is integrated to eliminate noise in angular velocity measurements and estimate the electromagnetic torque of the electric motor. The controller’s precision is evaluated through numerical simulation.