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Antilock Braking System: Vehicle Dynamics (ME5670)

This document presents a student project on modeling and developing an antilock braking system (ABS). It includes an introduction to ABS and its objectives to reduce stopping distances, improve stability, and maintain steerability. It describes the typical components of ABS including sensors, electronic control unit, hydraulic control unit. It explains how ABS works to prevent wheel lockup and modulate brake pressure. The project outline, mathematical models, Simulink system models, results showing improved braking with ABS, and conclusions are presented. References for further information are provided at the end.

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250 views

Antilock Braking System: Vehicle Dynamics (ME5670)

This document presents a student project on modeling and developing an antilock braking system (ABS). It includes an introduction to ABS and its objectives to reduce stopping distances, improve stability, and maintain steerability. It describes the typical components of ABS including sensors, electronic control unit, hydraulic control unit. It explains how ABS works to prevent wheel lockup and modulate brake pressure. The project outline, mathematical models, Simulink system models, results showing improved braking with ABS, and conclusions are presented. References for further information are provided at the end.

Uploaded by

sengottaiyan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Vehicle Dynamics (ME5670)

ANTILOCK BRAKING SYSTEM


MODELING AND DEVELPOMENT

Siva Teja Golla (ME14MTECH11025)


Harshad Keskar (ME14MTECH11027)
Mohini Kale (ME14MTECH11029)
Nikhil Mhaske (ME14MTECH11030)
Indian Institute of Technology, Hyderabad Sukanya Joshi (ME14MTECH11037)
ANTILOCK BRAKING SYSTEM 1
INTRODUCTION
• Anti-lock braking system (ABS) is an automobile safety system that allows
the wheels on a motor vehicle to maintain tractive contact with the road surface
according to driver inputs while braking, preventing the wheels from locking up
and avoiding uncontrolled skidding.
• ABS generally offers improved vehicle control and decreases stopping distances
on dry and slippery surfaces.
• ABS modulates the brake line pressure independent of the pedal force, to bring
the wheel speed back to the slip level range that is necessary for optimal
braking performance.

ANTILOCK BRAKING SYSTEM 2


PROJECT OUTLINE

• Objectives of ABS
• Components of ABS
• Working of ABS
• Mathematical model
• System model
• Results
• Conclusion
• References

ANTILOCK BRAKING SYSTEM 3


OBJECTIVES OF ABS
• To reduce stopping distance
1. The road surface type and conditions can be inferred from the vehicle's
braking pressure, wheel slip measurements, and deceleration rate
comparisons.
2. The wheel slip is regulated so that the road adhesion coefficient is
maximized. By keeping all of the wheels of a vehicle near the maximum
friction coefficient, an antilock system can attain maximum fictional
force
3. In turn, this strategy leads to the minimization of the vehicle stopping
distance.

ANTILOCK BRAKING SYSTEM 4


• Stability
1. A locked-up wheel generates a reduced braking force, smaller than the peak
value of the available adhesion between tires and road. A locked-up wheel
will also lose its capability to sustain any lateral force. This may result in
the loss of vehicle stability.
2. The basic purpose of a conventional ABS system is thus to prevent any
wheel from locking and to keep the longitudinal slip in an operational range
by cycling the braking pressure.

ANTILOCK BRAKING SYSTEM 5


• Steerability
1. Good peak frictional force control is necessary in order to achieve
satisfactory lateral forces and, therefore, satisfactory steer-ability.
2. If an obstacle appears without warning, emergency braking may not be
sufficient. When the wheels are locked, car no longer respond to the driver’s
steering intention.
3. With ABS car remains steerable even during emergency braking, and thus
the obstacle can be safely avoided.

ANTILOCK BRAKING SYSTEM 6


COMPONENTS OF ABS
The primary components of the ABS braking system are:
• Electronic control unit (ECU)
1. It receives signals from the sensors in the circuit and controls the brake
pressure at the road wheels according to the data analysed by the Unit.
2. ECU assists the vehicle operator to prevent wheel lockup by regulating the
wheel slip.
• Hydraulic control unit or modulator
1. It receives operating signals from the ECU to apply or release the brakes
under ABS conditions.
2. It executes the commands using three solenoid valves connected in series
with the master cylinder and the brake circuits- one valve for each front
wheel hydraulic circuit, and one for both of the rear wheels. Thus brakes can
be actuated by controlling hydraulic pressure.
ANTILOCK BRAKING SYSTEM 7
• Power booster and master cylinder assembly
1. It is activated when the driver pushes down on the brake pedal. The
master cylinder transforms the applied pedal force into hydraulic pressure
which is transmitted simultaneously to all four wheels.
2. It provides the power assistance required during braking.
• Wheel sensor unit
1. Speed sensors are comprised of a magnet wrapped in a coil and a toothed
sensor ring. An electrical field given off by the contact between the magnet
and the toothed ring creates a AC voltage.
2. The voltage frequency is directly proportional to the wheel's rotational
speed.
3. It monitors the rotational speed of the wheel and transmits this data to the
ABS control module.
ANTILOCK BRAKING SYSTEM 8
WORKING OF ABS

• If a wheel-speed sensor signals a lock up - the ECU sends a current to the


hydraulic unit. This energizes the solenoid valve. The action of the valve
isolates the brake circuit from the master cylinder. This stops the braking
pressure at that wheel from rising, and keeps it constant. It allows wheel
velocity to increase and slip to decrease.
• When the velocity increases, ECU re-applies the brake pressure to restrict
the wheel slip to a particular value.
• Hydraulic control unit controls the brake pressure in each wheel cylinder
based on the inputs from the system sensor. This in result controls the wheel
speed.

ANTILOCK BRAKING SYSTEM 9


MATHEMATICAL MODEL
 • Wheel slip:
When the braking action is initiated, a slippage between the tire and the
contacted road surface will occur, which make the speed of the vehicle to be
different from that of the tire.
• The longitudinal slip is defined as

The side slip angle is

Force and velocity components on tyre

ANTILOCK BRAKING SYSTEM 10


 •Vehicle Dynamics
According to Newton's second law, the equation of motion of the simplified
vehicle can be expressed by,

The road friction force is given by Coulomb law

The total mass of the quarter vehicle can be written as

Thus, the total normal load cm be expressed by

is the longitudinal weight transfer load due to braking

ANTILOCK BRAKING SYSTEM 11


Simulink model for vehicle dynamics

ANTILOCK BRAKING SYSTEM 12


• Wheel dynamics
According to Newton's second law, the equation of motion at wheel
level for the rotational DOF is given by,
𝐽  𝑤 𝜔=−𝑇
˙ 𝑏 + 𝐹 𝑡 𝑅𝑤

ANTILOCK BRAKING SYSTEM 13


Simulink model for wheel dynamics

ANTILOCK BRAKING SYSTEM 14


SYSTEM MODEL

Assumption: Only a linear model was considered and does not include actual road
conditions. The system here is modelled only for straight line braking.
ANTILOCK BRAKING SYSTEM 15
INPUT PARAMETERS FOR SIMULINK MODEL

Gravitational constant
 

Initial velocity of vehicle


Wheel Radius
Mass of vehicle
Maximum Braking Torque
Hydraulic Lag
Moment of Inertia

ANTILOCK BRAKING SYSTEM 16


RESULTS

ANTILOCK BRAKING SYSTEM 17


VEHICLE SPEED AND WHEEL SPEED
(WITHOUT ABS)

ANTILOCK BRAKING SYSTEM 18


VEHICLE SPEED AND WHEEL SPEED
(WITH ABS)

ANTILOCK BRAKING SYSTEM 19


SLIP (WITHOUT ABS)

ANTILOCK BRAKING SYSTEM 20


SLIP (WITH ABS)

ANTILOCK BRAKING SYSTEM 21


STOPPING DISTANCE (WITHOUT ABS)

ANTILOCK BRAKING SYSTEM 22


STOPPING DISTANCE (WITH ABS)

ANTILOCK BRAKING SYSTEM 23


CONCLUSION
• It is inferred that ABS improves the braking performance.
• The stopping distance after using ABS system has considerably reduced.
• The error in slip and desired slip is used to manipulate brake pressure in brake
cylinder.

ANTILOCK BRAKING SYSTEM 24


REFERENCES
• Tianku Fu,“Modelling and performance analysis of ABS system with non-linear control”,
2000.
• Tobias Eriksson,“Co-simulation of full vehicle model in Adams and anti-lock brake system
model in Simulink”, 2014.

ANTILOCK BRAKING SYSTEM 25


THANK YOU!
ANTILOCK BRAKING SYSTEM 26

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