Title: Open loop optimal downhill driving brake strategies using non-linear programming

Authors: Peter Lingman, Antonio Duarte, Ricardo Oliveira

Addresses: Volvo 3P, Department of Chassis Engineering, 26453 AB3, Gropegardsgatan, SE-405 08, Goteborg, Sweden and Department of Applied Mechanics, Chalmers University of Technology, Horsalsvagen 7A, SE-412 96, Goteborg, Sweden. ' Department of Applied Mechanics, Chalmers University of Technology, Horsalsvagen 7A, SE-412 96, Goteborg, Sweden. ' Department of Applied Mechanics, Chalmers University of Technology, Horsalsvagen 7A, SE-412 96, Goteborg, Sweden

Abstract: In this paper open loop optimal trajectories for downhill driving are described. Problem formulation including process modelling, model simplification, transformation into a finite optimisation problem, and implementation into the TOMLAB optimisation package are presented. Results show that there is a large potential in controlling the complete brake system of a heavy duty truck and thereby simultaneously improve both mean speed (transport efficiency) and component wear cost. The resulting optimal trajectories define the upper limit for what is theoretically achievable in a real, closed loop, controller implementation and can be used to both inspire and verify the development of such algorithms.

Keywords: cruise control; downhill driving; fading; auxiliary brakes; foundation brakes; non-linear programming; NLP; optimal control; heavy vehicles; brake systems; open loop.

DOI: 10.1504/IJHVS.2007.011795

International Journal of Heavy Vehicle Systems, 2007 Vol.14 No.1, pp.36 - 56

Published online: 22 Dec 2006 *

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