This paper deals with simulation and robust control of Antilock Braking System ABS. The briefly are described the main parts of ABS hydraulic system and control algorithm of ABS. Hydraulic system described here is BOSCH ABS 5.x series. The goal of ABS system is vehicle stability and vehicle steering response when braking. If during the braking occurred slip at one or more wheels from any reason, ABS evaluates this by "brake slip" controller. At this moment ABS is trying to use maximal limits of adhesion between tire and road. It means that is necessary control the differences between braking torque and friction torque , which reacts to the wheel via friction reaction tire-road surface. This is realized through the solenoid valves, which are controls (triggered) by on the base of PID controller described further in chapter 4. Presented concept is more or less standard for most of the existing ABS systems. The issue should be applied concept of robust ABS control algorithm, .
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Vehicle System Dynamics
This paper investigates the use of slip control on heavy vehicles to reduce stopping distance and compressed air usage in an emergency stop. Conventional ABS reduces the cylinder brake pressure if wheel lock-up is predicted, and allows the cylinder brake pressure to increase once the wheel is back on the stable part of the mu-slip curve. This significantly increases the air usage and can increase the stopping distance. An alternative braking strategy, slip control, is to measure the slip of the braked wheel and control the slip to its optimum point. A hardware-in-the-loop (HiL) rig has been developed to investigate slip control. The hardware includes an air receiver, ABS or slip control modulator, brake cylinder and brake caliper. The braked wheel and vehicle dynamics are simulated on a microprocessor. The model includes road roughness and the suspension system dynamics, which have a significant effect on the braking performance.
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One of the most important reasons why sudden braking causes the car's imbalance and accidents is that the wheels lose their maneuverability by locking. ABS has been developed to prevent the brakes from being locked. It has greatly reduced fatal accidents. So, it can be called a life-saving system for ABS. ABS is a vital system for the safety of the driver and passengers in motor vehicles. While the car is driven, another vehicle or any person or object may come out in front of the vehicle and the driver may have to brake suddenly. That's where ABS comes into play. In this article, audience will find an opportunity to get to know the ABS braking system more closely. Briefly, this article describes how this system works exactly, what it does in vehicles, and how ABS vehicles different when it is compared to vehicles without ABS.
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In-depth analysis of the composition and working principle of the anti-lock braking (ABS) system hydraulic control unit (HCU),establish the mathematical model of the major components of the solenoid valves, motors and pump, establish the model of the HCU in the MATLAB / Simulink environment . By simulation the experiment of the pressure increase and decease on the HCU, results show that the accuracy and precision of the model. Provide an efficient and convenient platform for the rapid development of integrated control of the vehicle ABS hydraulic unit.
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