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.
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September 2002
Technical Papers
Adaptive Continuously Variable Compression Braking Control for Heavy-Duty Vehicles
Maria Druzhinina,
Maria Druzhinina
Mechanical Engineering Department, University of Michigan, Ann Arbor, MI 48197
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Anna Stefanopoulou,
Anna Stefanopoulou
Mechanical Engineering Department, University of Michigan, Ann Arbor, MI 48197
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Lasse Moklegaard
Lasse Moklegaard
Mechanical and Environmental Engineering Department, University of California, Santa Barbara, CA 93106
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Maria Druzhinina
Mechanical Engineering Department, University of Michigan, Ann Arbor, MI 48197
Anna Stefanopoulou
Mechanical Engineering Department, University of Michigan, Ann Arbor, MI 48197
Lasse Moklegaard
Mechanical and Environmental Engineering Department, University of California, Santa Barbara, CA 93106
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division March 1, 2000. Associate Editor: S. Sivashankar.
J. Dyn. Sys., Meas., Control. Sep 2002, 124(3): 406-414 (9 pages)
Published Online: July 23, 2002
Article history
Received:
March 1, 2000
Online:
July 23, 2002
Citation
Druzhinina , M., Stefanopoulou, A., and Moklegaard, L. (July 23, 2002). "Adaptive Continuously Variable Compression Braking Control for Heavy-Duty Vehicles ." ASME. J. Dyn. Sys., Meas., Control. September 2002; 124(3): 406–414. https://doi.org/10.1115/1.1486010
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