Abstract
The anti-lock braking system (ABS) can detect the wheels locking and also modulate the brake pressure in order to prevent the wheel from locking. The main objectives of controlling the ABS is giving the controlled required torque to obtain the optimal slip rate of the wheel. This slip rate is defined as the function of the automobile linear velocity as well as the angular wheels’ speed. In this paper, a review for the ABS mechanism and the different applied controllers are presented. The principles, operation, components, advantages and disadvantages of ABS are investigated. The controllers applied for ABS are categorized as follows: (ON-OFF) Bang-Bang control, PD controller, PID controller, Fuzzy Logic controller, and Electronic Braking Force Distribution (EBFD) controller. These controllers are presented using a quarter car model with longitudinal and rotational dynamics. The comparison between these applied controllers is also presented. According to the braking force which applied to the braking system, the response is simulated. From the comparative study, it is concluded that by controlling the vehicle velocity and the wheel angular speed, the applied Fuzzy Logic controller is better than the PID, PD, and Bang-Bang controllers in reducing the stopping distance and time required for braking. EBFD controller provides the best performance compared with the four previous controllers. Furthermore, EBFD controller achieves the most stability for vehicle, particularly, when the vehicle is under adverse road conditions
Highlights
The first motor-driven vehicle was developed in 1769 and the first accident was occurred in 1770 [1]
anti-lock braking system (ABS) controlling puts unique challenges to the designer such as [7]: 1) for optimal performance: the controller operates at the unstable equilibrium point, 2) based on the road conditions: the maximum braking torque varies over a wide range, 3) the measurement signal of tire slippage which is important for the performance of the controller is highly noisy and uncertain, 4) on rough roads: the slip ratio of the tire varies rapidly and widely because of the tire bouncing, 5) the coefficient of friction of the brake pad is changing, and 6) the braking system includes the transportation delays which limit the bandwidth of the control system [8]
The results of applying the PID and the Fuzzy Logic controls for ABS in terms of the stopping time and distance are presented in Table 2 [1], [7], [19]
Summary
The first motor-driven vehicle was developed in 1769 and the first accident was occurred in 1770 [1]. Comparative study is presented to compare quantitively and qualitatively the different applied controllers for ABS These controllers are (ON-OFF) Bang-Bang control, PD controller, PID controller, Fuzzy Logic Controller, and Electronic Braking Force Distribution (EBFD) controller. The disadvantages of the Simple mechanical brakes are as follows: 1) The stopping distance is long, 2) while emergency braking is performed, the vehicle loses its stability and starts to skid, 3) its effectiveness is low; the accidents chance is more It was necessary for developing a safety function that automatically works and more efficient. In the case of hard braking, ABS increases the frictional force which happens between the tire and the road regardless of the road conditions This is achieved by regulating the slip of the wheel around the optimum value
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