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Dynamic Traction Control

Dynamic Traction Control. By: Thiago Avila, Mike Sinclair & Jeffrey McLarty. Drastically improve vehicle performance and safety by maintaining optimal wheel traction in all road conditions. Motivation. Motivation.

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Dynamic Traction Control

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  1. Dynamic Traction Control By: Thiago Avila, Mike Sinclair & Jeffrey McLarty

  2. Drastically improve vehicle performance and safety by maintaining optimal wheel traction in all road conditions Motivation

  3. Motivation

  4. FSAE car is currently traction limited and would benefit from the use of a traction control system • System must follow FSAE guidelines • Minimal cost solution should be pursued Needs Assessment

  5. Meet FSAE Guidelines • Predict slip with enough time to adjust engine output • Reduced FSAE 75m acceleration times • Improve FSAE skid pad testing results Design Criteria and Constraints

  6. The traction control system is required to prevent driver error from overloading any of the four wheels and causing slip, through either throttle or brake application Problem Formulation

  7. Physics model sensors • 3-axis Accelerometer • Linear Potentiometer Cost & Complexity • Engine Power Control • Cutting Spark Difficult to Predict Power • Limiting Fuel Improper Fuel Ratio • Drive by wire throttle Infringes FSAE rules • Electronic Air Restrictor Abstraction

  8. Slip Model • Vehicle Dynamics and Sensing • Vehicle Control • Electronic Restrictor Proposed Solution Breakdown

  9. Slip Model • Dynamic Physics Model • Dynamic Coefficient of Friction • Understeer Detection Proposed Solution

  10. Slip Angle Radius External Sensors X/Y/Z Acceleration - CBR 600 F4i Engine Physics Model (Saturator) Driver Pedal Wheels + RPM Throttle Pos. μs/μk Wheel Slip Detector ECU Design Layout

  11. Physics Model

  12. Torque Map

  13. Engine Speed • Interpolate Between Four Points on Torque Map • Interpolate between Engine Speeds at Throttle 1 Throttle Interpolation

  14. Engine Speed • Interpolate Between Four Points on Torque Map • Interpolate between Engine Speeds at Throttle 1 • Interpolate between Engine Speeds at Throttle 2 Throttle Interpolation

  15. Engine Speed • Interpolate Between Four Points on the Torque Map • Interpolate between Engine Speeds at Throttle 1 • Interpolate between Engine Speeds at Throttle 2 • Interpolate between results at different Throttles Throttle Interpolation

  16. Engine Speed • Interpolate Between Four Points on the Torque Map • Interpolate between Engine Speeds at Throttle 1 • Interpolate between Engine Speeds at Throttle 2 • Interpolate between results at different Throttles Throttle Interpolation

  17. Engine Speed • Interpolate Between Four Points on the Torque Map • Interpolate between Engine Speeds at Throttle 1 • Interpolate between Engine Speeds at Throttle 2 • Interpolate between results at different Throttles • Engine Power from 4 point Interpolation = Done Throttle Interpolation

  18. Physics Model

  19. Installed Sensors • Steering Wheel Angle • 2-D Acceleration • Suspension Deflection • Wheel Velocity • Brake Pressure • Engine RPM • Throttle Position • Air Mass Flow Rate Data Acquisition

  20. Physics Model Simulation

  21. Model Validation – FL Tire

  22. Slip Condition

  23. Calculate Engine Torque @ T(0) Slip Detected Calculate Vertical Force @ T(0) Calculate Coefficient of Friction and Update Model μs Dynamic Coefficient of Friction Calculator

  24. Maintain current μs No Slip Detected Is μs at the limit? Increase μs Yes No Initial Value New Limit Calculated Values Optimize Performance

  25. Turning Radius: • Desired vs. Actual • Major Factor: • Wheel Slip Angle Understeer Detection

  26. Slip Angle

  27. Vehicle Control • Electronic Restrictor • Brake Pressure Controller Proposed Solution

  28. Electronic Restrictor

  29. Electronic Restrictor

  30. Electronic Restrictor

  31. Electronic Restrictor

  32. Electronic Restrictor

  33. Electronic Restrictor

  34. Electronic Restrictor

  35. Rotary Potentiometer Servo Gears Butter -Fly- Valve Electronic Restrictor

  36. Electronic Restrictor

  37. Slip Angle Radius External Sensors X/Y/Z Acceleration - CBR 600 F4i Engine Physics Model (Saturator) Driver Pedal Wheels + RPM Throttle Pos. μs/μk Wheel Slip Detector ECU Patents

  38. Slip Angle Radius External Sensors X/Y/Z Acceleration - CBR 600 F4i Engine Physics Model (Saturator) Driver Pedal Wheels + RPM Throttle Pos. μs/μk Wheel Slip Detector ECU Possibly patentable: Continuously Improving Predictive Traction Control Patents

  39. Start Order Parts & Materials Program PSoC with Physics Model & Interpolation 1 day 3.5 weeks Finish Build Restrictor Install Restrictor 2 weeks 1 week Test & Optimize Create Controller based on Design Criterion 4 weeks 2.5 weeks Commissioning Critical Path ~10 weeks The Plan

  40. Questions? Comments?

  41. The End Thank you!

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