Pressure control for pneumatic electric braking system of commercial vehicle based on model predictive control

Abstract

Abstract Precise braking pressure control of a pneumatic electric braking system (PEBS) poses challenging non‐linear control problems, since it can operate in several distinct discrete processes (the pressure increasing, holding and decreasing) by switching the on‐off solenoid valves and the piston of relay valve moves irregularly. This article describes the development and experimental validation of a viable controller for an electronically controlled braking pressure based on the theory of model predictive control (MPC). The controller design consists of two parts. The non‐linear characteristic is first studied to ensure the pressure response of PEBS when the opening time is 4–10 ms in a fixed period, followed by calculation and prediction of the optimal on‐off time of inlet valve and release valve based on the current braking pressure to realize steady state. A logic rule is designed to ensure that the MPC controller and feedback control work coordinate to guarantee engineering reliability. A comprehensive system model is derived to help characterize system non‐linearities and design the MPC predictive model. Simulations and experimental results are presented finally to show how the MPC and feedback control strategy can be successfully applied to solve the braking pressure control of a PEBS in a systematic way.

Keywords

• Pressure and vacuum control
• Mechanical components
• Control system analysis and synthesis methods
• Optimal control
• Nonlinear control systems