TY  - JOUR
PY  - 2010//
TI  - A high performance pneumatic braking system for heavy vehicles
JO  - Vehicle system dynamics
A1  - Miller, Jonathan I.
A1  - Cebon, David
SP  - 373
EP  - 392
VL  - 48
IS  - Suppl 1
N2  - Current research into reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, these algorithms require the knowledge of variables that are impractical to measure directly. This paper introduces a sliding mode braking force observer to support a sliding mode controller for air-braked heavy vehicles. The performance of the observer is examined through simulations and field testing of an articulated heavy vehicle. The observer operated robustly during single-wheel vehicle simulations, and provided reasonable estimates of surface friction from test data. The effect of brake gain errors on the controller and observer are illustrated, and a recursive least squares estimator is derived for the brake gain. The estimator converged within 0.3 s in simulations and vehicle trials.<p /> 
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423111003774472
ID  - ref1
ER  -