Hardware-in-the-Loop Test of an Open Loop Fuzzy Control Method for Decoupled Electro-Hydraulic Antilock Braking System

To verify functionality of an intelligent open loop fuzzy-logic-based antilock braking system control method for four on-board motor drive electric sport utility vehicle a hardware-in-the-loop experiment is conducted in this paper. The experimental facility includes a novel decoupled electro-hydraulic brake test bed characterized by highly nonlinear dynamics and time-varying behavior. It reproduces real pressure dynamics of the brake circuit allowing for simulation of various tire-road adhesions conditions and brake blending scenarios. To cope with degradation of antilock braking system performance induced by unexpected changing environmental conditions, such as road surface, the developed fuzzy control features a very simple yet effective and robust road surface recognition tool with estimation of the peak braking demands. Thus, the fuzzy logic serves as a controller and road surface estimator simultaneously allowing for complex mathematical modelling and feedback control avoidance not sacrificing safety system's performance. The results indicate that the control method manages highly nonlinear and time-variant dynamics of the brake system and offers significant feasibility for optimal slip control at regenerative braking, ensuring fuzzy control's potentiality for real-time application.