A PID control strategy research of vehicle ABS braking based on slip

Abstract

Before the advent of ABS, cars used open-loop braking system. It is impossible to adjust the brake pressure of wheel cylinder. Therefore, it is inevitable that the wheels on the ground is locked in the emergency braking. When the wheel is locked, the car will appear the problems of bad braking efficiency and stability. ABS (Anti-lock Braking System) controller can maintain the appropriate braking stability by adjusting the value of braking force for purpose of avoiding axle sideslip. In order to analyze the braking performance of vehicles with and without ABS, the mathematical model of single wheel vehicle is established by using the dynamics theory. Moreover, The wheel model based on magic formula、Hydraulic braking model、Slip rate model、PID cotrol model are simultaneously established by Simulink. At last, These models are respectively combined into a ABS control braking model. Simulation results show that the car with ABS control strategy can obtain better braking efficiency and stability compared with no ABS.