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Pneumatic Brake Actuator Design and Modeling for the Precision Stopping Control of Automated Bus

[+] Author Affiliations
Fanping Bu, Han-Shue Tan

University of California at Berkeley

Paper No. IMECE2005-80616, pp. 789-795; 7 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fuelling, as well as automatic intersection or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inherently nonlinear with large uncertainties. The feasibility of providing a smooth precision stopping brake control based on a conventional pneumatic brake system has not yet been demonstrated. As the first step toward the fine braking control of conventional pneumatic brake system, this paper describes the design of a pneumatic brake actuator based on the “off-the-shelf” components for the precision stopping control of an automated bus and details the modelling of each components. In order to facilitate controller design, the complex “component by component” model is reduced to a more tractable one which still preserves the basic nonlinear characteristics of the original system. Both physical explanation and experimental data are provided to justify the model reduction and validate the simplified model which is used for controller design in [1.]

Copyright © 2005 by ASME



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