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Quality and slip ratio analyses were also performed.
Slip ratio and flow quality in the bubbly layer are calculated by iteration.
Thirdly, a nonlinear MPC is designed to achieve the optimal wheel slip ratio for each submodel.
And a controller is then designed by using feedback linearization based on the approximated slip ratio.
The test machine was designed for variable slip ratio to simulate the complex service conditions.
Here, the slip ratio is approximated to a continuous function by using a sigmoid function.
When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously.
The proposed control procedure does not use measured values of the slip ratio.
This optimum level should balance tire and runway friction at its peak value, which is conveniently done by controlling the wheel slip ratio around the peak of the friction coefflcient-slip ratio(s) curve during ABS maneuvers.
In this paper, we discuss integrated vehicle slip ratio control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller.
The friction coefficient between tyre and road is a nonlinear function of slip ratio and varies for different road surfaces.
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