Slip Control at Small Slip Values for Road Vehicle Brake Systems

Abstract

A control algorithm is presented here, that controls the brake forces of a two-axle road vehicle in order to achieve equal slips on the wheels. This slip control algorithm operates in the domain of small slip values, where the Anti Lock System (ABS) is inactive. In case of successful control, the wheels reach the limit of adhesion at the same instant. This results in a later activation of the ABS and higher achievable deceleration. Measurements on a two-axle lorry are also included.