Systems and methods for rapid convergence antiskid initialization
An antiskid controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel may comprise a delay toggle, a switch logic for switching between an initial rate and a running rate, and a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic. The linear control receives the initial rate upon initialization of the antiskid controller. The linear control receives the running rate after a predetermined duration or after the linear control has converged on a desired solution.
1. A system for controlling a braking force applied to a wheel of a vehicle, comprising:
a brake controller having an input for receiving a brake force command indicative of a desired amount of brake force to be applied to the wheel, and an output for providing a brake force output command to a brake actuator and assembly which applies a brake force to the wheel based on the brake force output command;
a wheel speed sensor, operatively coupled to the wheel, for measuring a speed of the wheel and providing an output signal indicative of the measured wheel speed; and
a differential reference controller, comprising:
a delay toggle;
a switch logic for switching between an initial rate and a running rate; and
a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.
2. The system of claim 1 , wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in the measured wheel speed.
3. The system of claim 1 , wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.
4. The system of claim 3 , wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.
5. The system of claim 3 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after a skid condition is detected.
6. The system of claim 3 , wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.
7. The system of claim 1 , wherein the initial rate is less than −10 meters per second squared.
8. The system of claim 1 , wherein the running rate is greater than −9 meters per second squared.
9. A differential reference controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel, the differential reference controller comprising:
a delay toggle;
a switch logic for switching between an initial rate and a running rate; and
a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.
10. The differential reference controller of claim 9 , wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in a measured wheel speed.
11. The differential reference controller of claim 9 , wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.
12. The differential reference controller of claim 11 , wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.
13. The differential reference controller of claim 11 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after a skid condition is detected.
14. The differential reference controller of claim 11 , wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.
15. The differential reference controller of claim 9 , wherein the initial rate is less than −10 meters per second squared.
16. The differential reference controller of claim 9 , wherein the running rate is greater than −9 meters per second squared.
17. A method of controlling a brake control system, comprising:
receiving a measured wheel speed;
controlling a force/pressure applied to a brake based upon the measured wheel speed;
enabling an antiskid controller;
receiving an initial rate for use by a linear control;
calculating an antiskid correction signal using the initial rate;
receiving a running rate for use by the linear control; and
calculating the antiskid correction signal using the running rate, wherein a magnitude of the initial rate is greater than a magnitude of the running rate.
18. The method of claim 17 , further comprising sending a toggle signal from a delay toggle to a switch logic, wherein the running rate is received in response to the toggle signal being received by the switch logic.
19. The method of claim 18 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after the antiskid controller is enabled.
20. The method of claim 17 , wherein the initial rate is less than −10 meters per second squared and the running rate is greater than −9 meters per second squared.