Rao, S., Jeong, J., Ashby, R., Heydinger, G. et al., "Modeling and Validation of ABS and RSC Control Algorithms for a 6×4 Tractor and Trailer Models using SIL Simulation," SAE Technical Paper 2014-01-0135, 2014, doi:10.4271/2014-01-0135.
A Software-in-the-Loop (SIL) simulation is presented here wherein control algorithms for the Anti-lock Braking System (ABS) and Roll Stability Control (RSC) system were developed in Simulink. Vehicle dynamics models of a 6×4 cab-over tractor and two trailer combinations were developed in TruckSim and were used for control system design. Model validation was performed by doing various dynamic maneuvers like J-Turn, double lane change, decreasing radius curve, high dynamic steer input and constant radius test with increasing speed and comparing the vehicle responses obtained from TruckSim against field test data. A commercial ESC ECU contains two modules: Roll Stability Control (RSC) and Yaw Stability Control (YSC). In this research, only the RSC has been modeled. The ABS system was developed based on the results obtained from a HIL setup that was developed as a part of this research. The RSC system was developed after a careful study of the field test data obtained from the vehicle manufacturer in which the ESC was activated. Both the control models were then validated by performing dynamic maneuvers and straight ahead braking tests and the simulation results were compared against the field test data. The results show that the ABS and RSC control models were able to mimic the performance of commercially available ECUs.