IL128472A - Antiskid control of multi-wheel vehicles using coupled and decoupled kalman filtering incorporating pitch weight transfer - Google Patents
Antiskid control of multi-wheel vehicles using coupled and decoupled kalman filtering incorporating pitch weight transferInfo
- Publication number
- IL128472A IL128472A IL12847299A IL12847299A IL128472A IL 128472 A IL128472 A IL 128472A IL 12847299 A IL12847299 A IL 12847299A IL 12847299 A IL12847299 A IL 12847299A IL 128472 A IL128472 A IL 128472A
- Authority
- IL
- Israel
- Prior art keywords
- coupled
- kalman filtering
- weight transfer
- antiskid control
- wheel vehicles
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1703—Braking or traction control means specially adapted for particular types of vehicles for aircrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
- B60T8/17636—Microprocessor-based systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
- B64C25/44—Actuating mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Feedback Control In General (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/022,566 US6220676B1 (en) | 1997-05-09 | 1998-02-12 | Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer |
Publications (2)
Publication Number | Publication Date |
---|---|
IL128472A0 IL128472A0 (en) | 2000-01-31 |
IL128472A true IL128472A (en) | 2005-07-25 |
Family
ID=21810253
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IL12847299A IL128472A (en) | 1998-02-12 | 1999-02-10 | Antiskid control of multi-wheel vehicles using coupled and decoupled kalman filtering incorporating pitch weight transfer |
Country Status (5)
Country | Link |
---|---|
US (1) | US6220676B1 (fr) |
EP (1) | EP0936114B1 (fr) |
JP (1) | JPH11286268A (fr) |
DE (1) | DE69913584T2 (fr) |
IL (1) | IL128472A (fr) |
Families Citing this family (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6722745B2 (en) * | 1997-05-02 | 2004-04-20 | Hydro-Aire, Inc. | System and method for adaptive brake application and initial skid detection |
US6132016A (en) * | 1997-05-02 | 2000-10-17 | Hydro-Aire, Inc. | System and method for adaptive brake application and initial skid detection |
GB2357147A (en) * | 1999-12-07 | 2001-06-13 | Rover Group | Estimating wheel speed as a function of applied torque and estimated resistive torque |
US6659400B2 (en) * | 2001-05-23 | 2003-12-09 | Hydro-Aire, Inc. | Optimal control design for aircraft antiskid brake control systems |
US6659233B2 (en) * | 2001-12-04 | 2003-12-09 | Hydro-Aire, Inc. | System and method for aircraft braking system usage monitoring |
US6882920B2 (en) * | 2003-04-29 | 2005-04-19 | Goodrich Corporation | Brake control system |
US7104616B2 (en) * | 2003-07-02 | 2006-09-12 | Goodrich Corporation | Brake gain-based torque controller |
US20050038589A1 (en) * | 2003-08-14 | 2005-02-17 | Deepak Shukla | Method for estimating a friction coefficient |
US7237748B2 (en) * | 2003-12-15 | 2007-07-03 | Delos Aerospace, Llc | Landing gear method and apparatus for braking and maneuvering |
FR2877312B1 (fr) * | 2004-11-02 | 2007-01-12 | Airbus France Sas | Procede et dispositif pour ameliorer l'efficacite de freinage d'un aeronef roulant sur le sol |
DE102004053880A1 (de) * | 2004-11-04 | 2006-05-11 | Daimlerchrysler Ag | Verfahren zur Bestimmung des maximalen Reibwertes zwischen Fahrzeugreifen und Fahrbahnoberfläche |
GB0428378D0 (en) * | 2004-12-24 | 2005-02-02 | Airbus Uk Ltd | Apparatus and method for measuring loads sustained by a bearing pin |
US7509204B2 (en) * | 2005-02-11 | 2009-03-24 | Honeywell International Inc. | Method and system using tire stretch data to control braking |
GB0523069D0 (en) * | 2005-11-11 | 2005-12-21 | Airbus Uk Ltd | Aircraft braking system |
GB2439742A (en) * | 2006-07-05 | 2008-01-09 | Dunlop Aerospace Ltd | Symmetrical braking control system in aircraft |
MX2009006791A (es) * | 2006-12-19 | 2009-08-28 | Engineered Arresting Sys Corp | Sistema y metodo para proporcionar condiciones de pista a una aeronave en aterrizaje. |
FR2910417B1 (fr) * | 2006-12-21 | 2012-07-06 | Messier Bugatti | Procede de commande adaptatif de freinage pour vehicule. |
FR2918638B1 (fr) * | 2007-07-09 | 2010-02-26 | Airbus France | Systeme de limitation des oscillations en tangage applique a un aeronef. |
TWI680928B (zh) | 2009-04-10 | 2020-01-01 | 美商辛波提克有限責任公司 | 垂直升降系統及在多層儲存結構往返運送空的貨箱單元之方法 |
US9321591B2 (en) | 2009-04-10 | 2016-04-26 | Symbotic, LLC | Autonomous transports for storage and retrieval systems |
US8197016B2 (en) * | 2009-05-01 | 2012-06-12 | Goodrich Corporation | Brake fill effect minimization function |
SE534220C2 (sv) | 2009-10-22 | 2011-06-07 | Scania Cv Ab | Automatisk friktionsskattning |
FR2959483B1 (fr) * | 2010-04-28 | 2012-06-01 | Messier Bugatti | Procede de gestion d'une liaison au sol d'un aeronef. |
US8965619B2 (en) | 2010-12-15 | 2015-02-24 | Symbotic, LLC | Bot having high speed stability |
US9187244B2 (en) | 2010-12-15 | 2015-11-17 | Symbotic, LLC | BOT payload alignment and sensing |
US9561905B2 (en) | 2010-12-15 | 2017-02-07 | Symbotic, LLC | Autonomous transport vehicle |
US8696010B2 (en) | 2010-12-15 | 2014-04-15 | Symbotic, LLC | Suspension system for autonomous transports |
US11078017B2 (en) | 2010-12-15 | 2021-08-03 | Symbotic Llc | Automated bot with transfer arm |
US9499338B2 (en) | 2010-12-15 | 2016-11-22 | Symbotic, LLC | Automated bot transfer arm drive system |
CN102620943B (zh) | 2011-01-30 | 2015-06-03 | 国际商业机器公司 | 在车轮检测中调整卡尔曼滤波器的参数的方法及装置 |
US8538654B2 (en) * | 2011-09-07 | 2013-09-17 | Goodrich Corporation | Systems and methods for improved aircraft braking |
US9663223B1 (en) | 2013-02-11 | 2017-05-30 | The Boeing Company | Aircraft braking performance and runway condition determination |
GB201315012D0 (en) | 2013-08-22 | 2013-10-02 | Airbus Uk Ltd | Aircraft autonomous pushback |
US10894663B2 (en) | 2013-09-13 | 2021-01-19 | Symbotic Llc | Automated storage and retrieval system |
US9463873B2 (en) * | 2014-07-13 | 2016-10-11 | The Boeing Company | Vehicle braking system having braking control and skid reduction functions |
US9688255B2 (en) | 2015-06-23 | 2017-06-27 | Aai Corporation | Using an accelerometer to detect tire skid |
US9919795B2 (en) * | 2016-03-21 | 2018-03-20 | Goodrich Corporation | Adaptive pressure skid control |
US10086925B2 (en) * | 2016-07-13 | 2018-10-02 | Embraer S.A. | Use of automatic pitch control to improve braking performance |
FR3076331B1 (fr) * | 2018-01-02 | 2020-02-14 | Foundation Brakes France | Actionneur de frein et procede de commande associe |
EP3807134B1 (fr) * | 2018-06-15 | 2024-06-26 | Politecnico di Milano | Système combiné de commande de freinage d'un véhicule, en particulier d'un aéronef, et de contrôle de l'usure d'au moins un pneumatique associé audit véhicule |
CN110450768B (zh) * | 2019-08-13 | 2021-08-03 | 成都飞机工业(集团)有限责任公司 | 一种低成本小型固定翼无人机刹车防滑控制方法 |
EP3862737A1 (fr) * | 2020-02-05 | 2021-08-11 | Goodrich Corporation | Estimation de la température de frein d'avion à base de modèle |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5653943A (en) * | 1979-10-09 | 1981-05-13 | Nissan Motor Co Ltd | Antiskid controller |
US4715662A (en) | 1983-12-16 | 1987-12-29 | Robert Bosch Gmbh | Method for determining an optimal slip value |
EP0149801B1 (fr) | 1983-12-16 | 1987-07-29 | Robert Bosch Gmbh | Procédé pour la recherche du couple de freinage de consigne pour les différentes roues d'un véhicule |
WO1985002591A1 (fr) | 1983-12-16 | 1985-06-20 | Robert Bosch Gmbh | Procede pour transformer le signal de sortie d'un capteur de mesure de vitesse de rotation en un signal pauvre en interferences |
DE3534022A1 (de) * | 1985-05-07 | 1987-03-26 | Lucas Ind Plc | Verfahren zum ermitteln des reibungskoeffizienten zwischen reifen und fahrbahn |
US5050940A (en) | 1990-02-05 | 1991-09-24 | Allied-Signal Inc. | Brake control and anti-skid system |
US5132906A (en) | 1990-06-11 | 1992-07-21 | Ford Motor Company | Road surface friction and hill slope estimator |
DE4030653A1 (de) | 1990-09-28 | 1992-04-02 | Bosch Gmbh Robert | Verfahren zum bestimmen der schraeglaufwinkel und/oder der seitenfuehrungskraefte eines gebremsten fahrzeuges |
US5180214A (en) | 1991-12-30 | 1993-01-19 | National Science Council | Servo-type phase-locked loop anti-skid brake control system |
JP3353846B2 (ja) * | 1993-04-16 | 2002-12-03 | マツダ株式会社 | 車両のアンチスキッドブレーキ装置 |
DE59304134D1 (de) | 1993-06-22 | 1996-11-14 | Siemens Ag | Verfahren und Schaltungsanordnung zum Ermitteln des Reibwerts |
US5424942A (en) | 1993-08-10 | 1995-06-13 | Orbital Research Inc. | Extended horizon adaptive block predictive controller with an efficient prediction system |
US5454630A (en) | 1994-04-29 | 1995-10-03 | General Motors Corporation | Automotive antilock braking |
JP3735903B2 (ja) * | 1995-09-19 | 2006-01-18 | アイシン精機株式会社 | 電動車両のアンチスキッド制御装置 |
JPH0995228A (ja) * | 1995-09-29 | 1997-04-08 | Mazda Motor Corp | 車両の制動力制御装置 |
JP3652423B2 (ja) * | 1995-11-16 | 2005-05-25 | 本田技研工業株式会社 | 車両におけるブレーキ制御方法 |
US5918951A (en) * | 1997-05-09 | 1999-07-06 | The B.F. Goodrich Company | Antiskid brake control system using kalman filtering |
-
1998
- 1998-02-12 US US09/022,566 patent/US6220676B1/en not_active Expired - Fee Related
-
1999
- 1999-02-09 JP JP11031065A patent/JPH11286268A/ja active Pending
- 1999-02-10 IL IL12847299A patent/IL128472A/xx not_active IP Right Cessation
- 1999-02-10 EP EP99300960A patent/EP0936114B1/fr not_active Expired - Lifetime
- 1999-02-10 DE DE69913584T patent/DE69913584T2/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE69913584T2 (de) | 2004-09-30 |
DE69913584D1 (de) | 2004-01-29 |
JPH11286268A (ja) | 1999-10-19 |
EP0936114B1 (fr) | 2003-12-17 |
US6220676B1 (en) | 2001-04-24 |
EP0936114A2 (fr) | 1999-08-18 |
IL128472A0 (en) | 2000-01-31 |
EP0936114A3 (fr) | 2000-04-05 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FF | Patent granted | ||
KB | Patent renewed | ||
KB | Patent renewed | ||
MM9K | Patent not in force due to non-payment of renewal fees |