Development And Validation On Control Algorithm Of Bus Stability On Electronic Braking System

With these years’ development of economy, the flow rate of people between regions has become much bigger, interurban bus as an important transportation for passenger use brings up much convenience for people’s travelling. In the meanwhile, due to its high center, large mass and big size, slide of side direction and rollover are likely to occur when moving. This raise concerns about their safety. The rapid development of vehicle stability control systems and other active safety technologies ensures the stability in the process of moving and brings up more guarantee for safe travel ing.An interurban bus is selected as the research object. Its stability of yaw and rollover is studied based on internal and foreign research achievements related to vehicle stability control. The yaw stability control strategy, roll stability control strategy, yaw and roll integrated stability control strategy based on the linear quadratic optimal control algorithm, are formulated and verified with simulation models. The key components of the simulation model are built based on the existing electronic brake system(EBS) and combined with the integrated stability control strategy to verify the integrated control algorithm through united simulation.The content of the research contains the following four principal sections:Firstly, yaw and rollover stability of bus are analyzed and the simulation model is built with Trucksim. The bus stability of typical working condition is also simulated.Secondly, the two-degrees reference model of yaw stability is built and the yaw stability control strategy based on LQ R control is proposed. And then the control strategy is verified by co-simulation with MATLAB/Simulink and Trucksim.Thirdly, the three-degrees reference model of rollover stability is built. The rollover risk estimation based TTR and the rollover stability control strategy based on LQR is proposed. The co-simulation on typical working conditions is conducted with MATLAB/Simulink and Trucksim to verify the control strategy of rollover. The integrated control strategy of the yaw and rollover stability is proposed and simulated based on the stability control strategy of yaw motion and rollover.Fourthly, the Electric Brake System is introduced. Then models of the key valves are established after tests. In the end, the proposed integrated control strategy is simulated and verified combined with the models of EBS valves.