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Ivanov, Valentin
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ERRATUM

SAE International Journal of Passenger Cars - Mechanical Systems

Dzmitry Savitski, Klaus Bernhard Augsburg
Technische Universitat Ilmenau-Vincenzo Ricciardi, Valentin Ivanov
  • Journal Article
  • 2017-01-2520.1
Published 2017-09-17 by SAE International in United States
This is a errata for 2017-01-2520.
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Estimation of Brake Friction Coefficient for Blending Function of Base Braking Control

SAE International Journal of Passenger Cars - Mechanical Systems

Technische Universität Ilmenau-Vincenzo Ricciardi, Dzmitry Savitski, Klaus Augsburg, Valentin Ivanov
  • Journal Article
  • 2017-01-2520
Published 2017-09-17 by SAE International in United States
The brake architecture of hybrid and full electric vehicle includes the distinctive function of brake blending. Known approaches draw upon the maximum energy recuperation strategy and neglect the operation mode of friction brakes. Within this framework, an efficient control of the blending functions is demanded to compensate external disturbances induced by unpredictable variations of the pad disc friction coefficient. In addition, the control demand distribution between the conventional frictional brake system and the electric motors can incur failures that compromise the frictional braking performance and safety. However, deviation of friction coefficient value given in controller from actual one can induce undesirable deterioration of brake control functions. The main objective of the presented study is to propose a method to compensate disturbances induced by variations of brake linings friction coefficient through modifications of the brake torque demand for the enhancement of both brake performance and active safety.The achievement of a compensation mechanism requires the estimation of relevant vehicle states. Hereunto, a novel technique based on a linear Kalman observer is proposed for the online estimation of…
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Investigating the Parameterization of Dugoff Tire Model Using Experimental Tire-Ice Data

SAE International Journal of Passenger Cars - Mechanical Systems

Technische Universitat Ilmenau-Dzmitry Savitski, Valentin Ivanov
Virginia Tech-Corina Sandu
  • Journal Article
  • 2016-01-8039
Published 2016-09-27 by SAE International in United States
Tire modeling plays an important role in the development of an Active Vehicle Safety System. As part of a larger project that aims at developing an integrated chassis control system, this study investigates the performance of a 19” all-season tire on ice for a sport utility vehicle. A design of experiment has been formulated to quantify the effect of operational parameters, specifically: wheel slip, normal load, and inflation pressure on the tire tractive performance. The experimental work was conducted on the Terramechanics Rig in the Advanced Vehicle Dynamics Laboratory at Virginia Tech. The paper investigates an approach for the parameterization of the Dugoff tire model based on the experimental data collected. Compared to other models, this model is attractive in terms of its simplicity, low number of parameters, and easy implementation for real-time applications. The relations correlating tire forces with slip ratios were identified by applying zero-phase filtering techniques to the raw test data. Next, an optimization procedure was utilized to extract parameters for the Dugoff tire model from the tire-on-ice drawbar pull coefficient versus…
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Experimental Study on Continuous ABS Operation in Pure Regenerative Mode for Full Electric Vehicle

SAE International Journal of Passenger Cars - Mechanical Systems

Delft University of Technology-Barys Shyrokau
Flanders' Drive-Jasper De Smet, Johan Theunissen
  • Journal Article
  • 2015-01-9109
Published 2015-05-01 by SAE International in United States
Anti-lock braking functions of electric vehicles with individual wheel drive can be effectively realized through the operation of in-wheel or on-board motors in the pure regenerative mode or in the blending mode with conventional electro-hydraulic anti-lock braking system (ABS). The regenerative ABS has an advantage in simultaneous improvement of active safety, energy efficiency, and driving comfort. In scope of this topic, the presented work introduces results of experimental investigations on a pure electric ABS installed on an electric powered sport utility vehicle (SUV) test platform with individual switch reluctance on-board electric motors transferring torque to the each wheel through the single-speed gearbox and half-shaft. The study presents test results of the vehicle braking on inhomogeneous low-friction surface for the case of ABS operation with front electric motors. The performed tests confirm considerable reduction of braking distance and accurate tracking of the reference slip as compared with the vehicle braking without ABS. Hence the pure electric ABS can be considered as an efficient alternative to anti-lock braking systems with friction brakes only.
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Active Brake Judder Compensation Using an Electro-Hydraulic Brake System

SAE International Journal of Commercial Vehicles

Ilmenau Technical Univ-Dzmitry Savitski, Valentin Ivanov
Linköping Univ-Chih Feng Lee
  • Journal Article
  • 2015-01-0619
Published 2015-04-14 by SAE International in United States
Geometric imperfections on brake rotor surface are well-known for causing periodic variations in brake torque during braking. This leads to brake judder, where vibrations are felt in the brake pedal, vehicle floor and/or steering wheel. Existing solutions to address judder often involve multiple phases of component design, extensive testing and improvement of manufacturing procedures, leading to the increase in development cost.To address this issue, active brake torque variation (BTV) compensation has been proposed for an electromechanical brake (EMB). The proposed compensator takes advantage of the EMB's powerful actuator, reasonably rigid transmission unit and high bandwidth tracking performance in achieving judder reduction.In a similar vein, recent advancements in hydraulic system design and control have improved the performance of hydraulic brakes on a par with the EMB, therefore invoking the possibility of incorporating the BTV compensation feature of the EMB within hydraulic brake hardware.In this paper, the typical characteristics of electromechanical and electro-hydraulic brake systems are presented. Based on the experimental results, the feasibility of active BTV compensation on the electro-hydraulic brake (EHB) systems is discussed. Furthermore,…
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Influence of the Tire Inflation Pressure Variation on Braking Efficiency and Driving Comfort of Full Electric Vehicle with Continuous Anti-Lock Braking System

SAE International Journal of Passenger Cars - Mechanical Systems

Ilmenau University of Technology-Dzmitry Savitski, Kristian Hoepping, Valentin Ivanov, Klaus Augsburg
  • Journal Article
  • 2015-01-0643
Published 2015-04-14 by SAE International in United States
The presented study demonstrates results of experimental investigations of the anti-lock braking system (ABS) performance under variation of tire inflation pressure. This research is motivated by the fact that the changes in tire inflation pressure during the vehicle operation can distinctly affect peak value of friction coefficient, stiffness and other tire characteristics, which are influencing on the ABS performance. In particular, alteration of tire parameters can cause distortion of the ABS functions resulting in increase of the braking distance. The study is based on experimental tests performed for continuous ABS control algorithm, which was implemented to the full electric vehicle with four individual on-board electric motors. All straight-line braking tests are performed on the low-friction surface where wheels are more tended to lock. The experimental results of ABS braking clearly demonstrated impact of different tire inflation pressure levels (1.5, 2.5 and 3.5 bar) on (i) braking performance, (ii) control performance of ABS, and (iii) driving comfort during the panic braking. Conclusions are made on possible ABS adaptability and robustness improvement and its use in combination…
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Combined Testing Technique: Development of Friction Brake System for Electric Vehicle

Ilmenau University of Technology-Klaus Augsburg, Dzmitry Savitski, Lukas Heidrich, Valentin Ivanov
Published 2014-09-28 by SAE International in United States
The presented research discusses the experimental procedure developed for testing of friction brake systems installed on the modern electric vehicles. Approach of combined experimental technique utilizing hardware-in-the-loop platform and brake dynamometer is introduced. As the case study, an influence of brake lining coefficient of friction fluctuations on the anti-lock brake system (ABS) performance is investigated. The ABS algorithm is represented by the direct slip control aimed to the precise tracking of reference slip ratio by means of electric and friction brake system. Vehicle prototype is represented by RWD electric vehicle with in-wheel motors. Results, representing the investigated phenomenon, are derived using the developed combined test bench. The achieved results give a basis for further extension of standard brake testing procedures.
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Design and Testing of ABS for Electric Vehicles with Individually Controlled On-Board Motor Drives

SAE International Journal of Passenger Cars - Mechanical Systems

Flanders' DRIVE-Johan Theunissen, Karel Janssen
Ilmenau University of Technology-Valentin Ivanov, Barys Shyrokau, Dzmitry Savitski
  • Journal Article
  • 2014-01-9128
Published 2014-08-01 by SAE International in United States
The paper introduces the results of the development of anti-lock brake system (ABS) for full electric vehicle with individually controlled near-wheel motors. The braking functions in the target vehicle are realized with electro-hydraulic decoupled friction brake system and electric motors operating in a braking mode.The proposed ABS controller is based on the direct slip and velocity control and includes several main blocks for computing of predictive (feedforward) and reactive (feedback) brake torque, wheel slip observer, slip target adaptation, and the algorithm of brake blending between friction brakes and electric motors.The functionality of developed ABS has been investigated on the HIL test rig for straight-line braking manoeuvres on different surfaces with variation of initial velocity. The obtained experimental results have been compared with the operation of baseline algorithm of a hydraulic ABS and have demonstrated a marked effect in braking performance.
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Investigation of Brake Control Using Test Rig-in-the-Loop Technique

Ilmenau Technical Univ-Klaus Augsburg, Sebastian Gramstat, Ruediger Horn, Valentin Ivanov, Hannes Sachse
Nanyang Technological University-Barys Shyrokau
Published 2011-09-18 by SAE International in United States
Research and development tools for investigations of various facets of braking processes cover three major groups of devices: Dynamometer test rigs: assessment of performance, durability, life cycle and others;Tribometer test rigs: definition of parameters of friction and wear;Hardware-in-the-loop: estimation of functional properties of controlled braking.A combination of the listed devices allows to research complex phenomena related to braking systems.The presented work discusses a novel approach of test rig fusion, namely the combination of a brake dynamometer and hardware in the loop test rig. First investigations have been done during the operation of the anti-lock braking system (ABS) system to demonstrate the functionality of the approach. This task requires the following configuration of test equipment: NVH-brake dynamometer with integrated climatic chamber;Hardware-in-the-loop test rig including dSpace controllers, hydraulic brake system, and sensors and actuators of the ABS system;Beside the introduction of the testing hardware, especially the dynamometer design layout and its operational parameters plus the hardware-in-the-loop test rig, the used control algorithms are presented. Moreover one can find the used parameters for first verification studies of the…
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Kinematic Discrepancy Minimization for AWD Terrain Vehicle Dynamics Control

Ilmenau Technical Univ-Klaus Augsburg, Barys Shyrokau, Valentin Ivanov
Lawrence Technological Univ-Vladimir Vantsevich
Published 2010-10-05 by SAE International in United States
Stability of motion, turnability, mobility and fuel consumption of all-wheel drive terrain vehicles strongly depends on engine power distribution among the front and rear driving axles and then between the left and right wheels of each axle. This paper considers kinematic discrepancy, which characterizes the difference of the theoretical velocities of the front and rear wheels, as the main factor that influences power distribution among the driving axles/wheels of vehicles with positively locked front and rear axles. The paper presents a new algorithm which enables minimization of the kinematic discrepancy factor for the improvement of AWD terrain vehicle dynamics while keeping up with minimal power losses for tire slip. Three control modes associated with gear ratio control of the front and rear driving axles are derived to provide the required change in kinematic discrepancy. Computer simulation results are presented for different scenarios of terrain and road conditions. The effectiveness of the proposed control algorithm was analytically proved by modeling the same vehicle with no kinematic discrepancy control.
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