Modern heavy-duty vehicles are equipped with compression braking mechanisms that augment their braking capability and reduce wear of the conventional friction brakes. In this paper we consider a heavy-duty vehicle equipped with a continuously variable compression braking mechanism. The variability of the compression braking torque is achieved through controlling a secondary opening of the exhaust valve of the vehicle’s turbocharged diesel engine using a variable valve timing actuator. A model reference adaptive controller is designed to ensure good vehicle speed tracking performance in brake-by-wire driving scenarios in presence of large payload and road grade variations. The adaptive controller is integrated with backstepping procedure to account for compression braking actuator dynamics, with observers for various unmeasured quantities and with compensation schemes for actuator saturation. In addition to speed tracking, the vehicle mass and road grade are simultaneously estimated if persistence of excitation-type conditions hold. The final version of the controller is successfully evaluated on a high order crank angle model of a vehicle with a six-cylinder engine.

Issue Section:
Technical Papers
Keywords:
road vehicles, braking, torque control, velocity control, model reference adaptive control systems, actuators, parameter estimation, dynamics
Topics:
Actuators, Brakes, Braking, Compression, Control equipment, Dynamics (Mechanics), Engines, Roads, Torque, Vehicles, Parameter estimation, Valves, Design, Construction equipment, Gears, Errors
1.
Shladover
,
S. E.
, et al.,
1991
, “
Automatic Vehicle Control Developments in the PATH Program
,”
IEEE Trans. Veh. Technol.
,
40
(
1
), pp.
114
–
130
.
2.
Ioannou
,
P.
, and
Chien
,
C. C.
,
1993
, “
Autonomous Intelligent Cruise Control
,”
IEEE Trans. Veh. Technol.
,
42
, pp.
657
–
672
.
3.
Chen, C., and Tomizuka, M., 1995, “Steering and Independent Braking Control for Tractor-Semitrailer Vehicles in Automated Highway Systems,” Proceedings of the 34th Conference on Decision and Control, pp. 658–663.
4.
Gerdes, J. C., Brown, A. S., and Hedrick, J. K., 1995, “Brake System Modeling for Vehicle Control,” Advanced Automotive Technologies—ASME IMECE, pp. 105–112.
5.
Yanakiev, D., and Kanellakopoulos, I., 1997, “Longitudinal Control of Automated CHVs with Significant Actuator Delays,” Proceedings of the 36th Conference on Decision and Control, San Diego, pp. 4756–4763.
6.
Cummins, D. D., 1966, “The Jacobs Engine Brake Application and Performance,” SAE Paper No. 660740.
7.
Jacobs Vehicle System, 1999, “Intebrake Engine Braking System for Signature 600,” retrieved on http://www.jakebrake.com/products/engine.
8.
Hu, H., Israel, M. A., and Vorih, J. M., 1997, “Variable Valve Actuation and Diesel Engine Retarding Performance,” SAE Paper No. 970342.
9.
Moklegaard, L., Stefanopoulou, A., and Schmidt, J., 2000, “Transition from Combustion to Variable Compression Braking,” SAE paper No. 2000-1-1228.
10.
Moklegaard, L., Stefanopoulou, A., and Druzhinina, M., 2000, “Brake Valve Timing and Fuel Injection: A Unified Engine Torque Actuator for Heavy-Duty Vehicles,” Proc. of International Symposium on Advanced Vehicle Control, Ann Arbor, Michigan.
11.
Druzhinina, M., Moklegaard, L., and Stefanopoulou, A., 2000, “Compression Braking Control for Heavy-Duty Vehicles,” Proceedings of American Control Conference, Chicago, Illinois.
12.
Fradkov, A. L., and Pogromsky, A. Yu., 1998, Introduction to Control of Oscillations and Chaos, World Scientific.
13.
Druzhinina, M., Moklegaard, L., and Stefanopoulou, A., 2001, “Further Results on Adaptive Compression Braking Control for Heavy-Duty Vehicles,” Advanced Automotive Technologies—ASME IMECE, New York City.
14.
Bae, H. S., and Gerdes, J. C., 2000, “Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles,” Proc. of International Symposium on Advanced Vehicle Control, Ann Arbor, MI.
15.
Tan, Y., Robotis, A., and Kanellakopoulos, I., 1999, “Speed Control Experiments with an Automated Heavy Vehicle,” Proceedings of the IEEE International Conference on Control Applications. Hawai’i, pp. 1353–1358.
16.
Liubakka
,
M. K.
,
Rhode
,
D. S.
,
Winkelman
,
J. R.
, and
Kokotovic
,
P. V.
,
1993
, “
Adaptive Automotive Speed Control
,”
IEEE Trans. Autom. Control
,
38
(
7
), pp.
1011
–
1020
.
17.
Tsujii, M., Takeuchi, H., Oda, K., and Ohba, M., 1990, “Application of Self-Tuning to Automotive Cruise Control,” Proceedings of the American Control Conference, pp. 1843–1848.
18.
Wuertenberger, M., Germann, S., and Isermann, R., 1992, “Modelling and Parameter Estimation of Nonlinear Vehicle Dynamics,” ASME Dynamical Systems and Control Division, Vol. DSC 44, pp. 53–63.
19.
Ioannou, P., and Xu, Z., 1994, “Throttle and Brake Control Systems for Automatic Vehicle Following,” PATH Research Report UCB-ITS-PRR-94-10.
20.
Maciuca, D. B., and Hedrick, J. K., 1998, “Nonsmooth Estimation and Adaptive Control with Application to Automotive Brake Torque,” Proceedings of American Control Conference, pp. 2253–2257.
21.
Yanakiev
,
D.
, and
Kanellakopoulos
,
I.
,
1996
, “
Speed Tracking and Vehicle Follower Control Design for Heavy-Duty Vehicles
,”
Veh. Syst. Dyn.
,
25
, pp.
251
–
276
.
22.
Ioannou, P., and Sun, J., 1996, Robust Adaptive Control, Prentice Hall, Englewood Cliffs, NJ.
23.
Krstic, M., Kanellakopoulos, I., and Kokotovic, P. V., 1995, Nonlinear and Adaptive Control Design, Wiley, New York.
24.
Swaroop, D., Gerdes, J. C., Yip, P. P., and Hedrick, J. K., 1997, “Dynamic Surface Control of Nonlinear Systems,” Proceedings of the American Control Conference, pp. 3028–3034.
25.
Kang, J.-M., and Grizzle, J. W., 1999, “Nonlinear Control for Joint Air and Fuel Management in a SI Engine,” Proceedings of the American Control Conference.
26.
Druzhinina, M., Moklegaard, L., and Stefanopoulou, A., 2000, “Speed Gradient Approach to Longitudinal Control of Heavy Duty Vehicles Equipped with Compression Brake,” Proc. of International Symposium on Advanced Vehicle Control, Ann Arbor, MI.
27.
de Mathelin
,
M.
, and
Lozano
,
R.
,
1999
, “
Robust Adaptive Identification of Slowly Time-Varying Parameters with Bounded Disturbances
,”
Automatica
,
35
, pp.
1291
–
1305
.
28.
Druzhinina
,
M.
,
Stefanopoulou
,
A.
, and
Moklegaard
,
L.
,
2002
, “
Speed Gradient Approach to Longitudinal Control of Heavy-Duty Vehicles Equipped With Variable Compression Brake
,”
IEEE Trans. on Control Systems Technology
,
10
(
2
), pp.
209
–
220
.
29.
Jankovic
,
M.
,
1996
, “
Adaptive Output Feedback Control of Non-linear Feedback Linearizable Systems
,”
Int. Journal of Adaptive Control and Signal Processing
,
10
, pp.
1
–
18
.
Copyright © 2002
 by ASME
You do not currently have access to this content.