SUPERVISOR DECLARATION “I hereby declare that I have read this thesis and in my opinion this report is sufficient in terms of scope and quality for the award of the degree of Bachelor of Mechanical Engineering (Automotive).” Signature: ………………………... Supervisor: ………………………… Date: …………………………
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SUPERVISOR DECLARATION
“I hereby declare that I have read this thesis and in my opinion this report is sufficient in terms
of scope and quality for the award of the degree of Bachelor of Mechanical Engineering
(Automotive).”
Signature: ………………………...
Supervisor: …………………………
Date: …………………………
MODELING, SIMULATION AND CONTROL OF ANTILOCK BRAKING
SYSTEM USING MULTIBODY VEHICLE
WAN ELLENA NADIA BT WAN KAMAL
This report was submitted in accordance with partial requirements for honor of
Bachelor of Mechanical Engineering (Automotive)
Faculty of Mechanical Engineering
UniversitiTeknikal Malaysia Melaka (UTeM)
JUNE 2012
ii
DECLARATION
“I hereby declare that the work in this report is my own except for summaries and
quotations which have been duly knowledge.”
Signature: …………………………..
Author: …………………………..
Date: …………………………..
iii
Dedicated to beloved father and mother
iv
ACKNOWLEDGEMENTS
In the name of Allah, the Most Gracious and the Most Merciful
Alhamdulillah, all praises to Allah for the strengths and His blessing in
completing this thesis. Special appreciation goes to my supervisor, Mr. Fauzi bin
Ahmad, for his supervision and constant support. His invaluable help of constructive
comments and suggestions throughout the modeling, simulation, controlling and thesis
works have contributed to the success of this research.
I would like to express my appreciations to Mr. Vimal, Mr. Luqman and Mr.
Hanif for their support and help towards my final year project. My acknowledgements
also go to all postgraduates for their encouragement, insightful comments and co-
operations.
Sincere thanks to my entire course mates especially Khairunnisa, Syamil,
Maskana and others for their kindness and moral supports throughout finishing my final
year project.
Last but not least, my deepest gratitude goes to my beloved parents, Mr. Wan
Kamal Ismail and Mrs. Norbiha A. Rahim for their endless support, love, prayers and
encouragement. To those who indirectly contributed in my final year project, your
kindness means a lot to me. Thank you very much.
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ABSTRAK
Anti- kunci system brek mengesan perubahan drastic dalam kelajuan roda.
Apabila kelajuan merosot dikesan, system brek anti-kunci akan mengurangkan tekanan
hidraulik yang dibekalkan kepada system brek sehingga rosa bermula untuk
mempercepatkan lagi. Apabila pecutan mengesan tekanan sekali lagi meningkat
sehingga suatu amaun yang luar biasa gencatan di kesan. Kertas kerja ini
membentangkan penggubalan model kawalan slip untuk tujuan melaksanakan
penjejakan slip slip sasaran. Rekabentuk satu pengawal system brek anti-kunci, yang
secara automatic mengurangkan jarak brek dengan menyesuaikan tork brek sebagai
tindak balas kepada slip roda, membangunkan untuk pelbagai model kenderaan tubuh.
Kebanyakan pengawal anti-kunci system brek yang di bangunkan adalah bertujuan
untuk mengekalkan slip roda pada nilai yang dikehendaki. Ini memerlukan ukuran yang
tepat slip roda. Jadi, kita perlu mengawal tork brek slip membujur optimum untuk
mengelakkan roda dari penguncian.
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ABSTRACT
Anti-lock braking system detects drastic changes in the speed of wheels. When a
sharp deceleration is detected the anti-lock braking system will reduce the hydraulic
pressure supplied to the braking system until the wheel begins to accelerate again. When
the acceleration is detected the pressure is again increased until an unusual amount of
deceleration is detected. This paper presents the formulation of a slip control model for
purposes of performing slip tracking of target slip. The design of an anti-lock braking
system controller, that automatically minimizes the braking distance by adjusting the
braking torque in response to the wheel slip, is develop for multi body vehicle model.
Most of the anti-lock braking system controllers developed were aim to maintain the
wheel slip at a desired value. This requires accurate measurement of the wheel slip. So,
we need to control the brake torque to the optimum longitudinal slip to avoid wheel from
locking.
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TABLE OF CONTENT
CHAPTER TITLE PAGE
SUPERVISOR DECLARATION
TITLE OF PROJECT
DECLARATION
DEDICATION
ACKNOWLEDGEMENTS
ABSTRAK
ABSTRACT
TABLE OF CONTENT
LIST OF TABLES
LIST OF FIGURES
LIST OF SYMBOLS
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iii
iv
v
vi
vii
xi
xii
xiv
1 INTRODUCTION 1
1.0 Background 1
1.1 Problem Statement 2
1.2 Objectives 3
1.3 Scopes
3
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2 LITERATURE REVIEW 4
2.0 Introduction 4
2.1 Vehicle Longitudinal Model 5
2.2 Antilock Braking System Controller
6
2.2.1 Self-Learning Fuzzy Sliding-Mode Control 6
2.2.2 Gain-Scheduling Scheme 6
2.2.3 Sliding Mode Control 7
2.2.4 Gain-Scheduling and Iterative Feedback Turning of
PI Controllers
7
2.2.5 Sliding Mode Control With Gray Predictor 8
2.2.6 Sliding Mode Control with Plus Width Modulation 9
2.2.7 Proportional Plus Integral Control 10
2.2.8 Robust Fuzzy Sliding Mode Control 10
2.2.9 State Feedback Based Linear Slip Control
Formulation
11
2.2.10 Fuzzy Logic Control 12
2.2.11 Nonlinear Passive Suspension System 13
2.2.12 Intelligent Fuzzy Control 13
2.2.13 Genetic Neural Fuzzy
14
2.3 Summary of Existing Control Methods 15
3
METHODOLOGY
16
3.0 Overview
16
3.1 Flow Chart 17
3.2 Simulation Study 18
3.2.1 Simulation Parameters 20
3.2.2 Brake System Model
21
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3.3 Summary of Simulation Study 23
4 MODELING AND VALIDATION OF VEHICLE
LONGITUDINAL MODEL USING MATLAB
SIMULINK SOFTWARE
24
4.0 Introduction 24
4.1 Vehicle Body Dynamics Subsystem 25
4.2 Tire Traction Model Subsystem 26
4.3 Wheel Dynamic Subsystem 27
4.4 Powertrain Subsystem 27
4.5 Brake Model Subsystem 29
4.6 Vehicle Longitudinal Model 31
4.7 Validation of Vehicle Longitudinal Model 32
5 PERFORMANCE EVALUATION OF ANTILOCK
BRAKING SYSTEM USING PID CONTROLLER
35
5.0 Introduction 35
5.1 Control Structure of Antilock Braking System 38
5.2 Performance of Antilock Braking System Using PID
Controller
39
5.3 Evaluation Performance of Antilock Braking
System
43
6 CONCLUSION AND RECOMMENDATION 47
6.1 Conclusion 47
6.2 Recommendation 48
x
REFERENCES 49
APPENDICES 51
xi
LIST OF TABLES
TABLE NO TITLE PAGE
3.1 Simulation Parameters 20
5.1 Description Term of PID 39
5.2 PID Values for Front Brake Torque 39
5.3 PID Values for Rear Brake Torque 40
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LIST OF FIGURES
FIGURE NO.
TITLE
PAGE
3.1 Control Structure of Vehicle Longitudinal Model 19
3.2 Schematic of Vehicle Model 20
3.3 Brake System Block Diagram 22
4.1 Automatic Gearbox Shift Map 29
4.2 Vehicle Longitudinal Model 31
4.3 Graph of Vehicle Speed vs Time 32
4.4 Graph of Front Wheel Speed vs Time 33
4.5 Graph of Rear Wheel Speed vs Time 33
4.6 Graph of Front Wheel Slip vs Time 34
4.7 Graph of Rear Wheel Slip vs Time 34
5.1 Control Structure of Antilock Braking System 38
5.2 Graph of Front Wheel Slip vs Time 40
5.3 Graph of Rear Wheel Slip vs Time 41
5.4 Graph of Stopping Distance vs Time 41
5.5 Graph of Vehicle Speed, Front Wheel Speed, Rear Wheel
Speed vs Time
42
5.6 Detailed Graph of Front Wheel Slip vs Time 43
5.7 Detailed Graph of Rear Wheel Slip vs Time 44
5.8 Graph of Vehicle Speed, Front Wheel Speed, Rear Wheel
Speed vs Time
48
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5.9 Graph of Stopping Distance vs Time 49
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LIST OF SYMBOLS
SYMBOLS
DESCRIPTION
B Distance between vehicle centre of mass and front axle
C Distance between vehicle centre of mass and rear axle
H Height of vehicle
L Wheel base
S Wheel slip
rC Rolling resistance coefficient
dC Aerodynamic drag coefficient
aF Aerodynamic resistance forces
rF Rolling resistance forces
zfF Front normal forces
bfK Front wheel pressure/ torque conversion constant