Abstract
This paper presents application of the hybrid bond graphs modeling and simulation laboratory anti-lock braking model using Dymola. It is shown on this practical example that the use of Dymola software package will simplify the modeling and simulation. The results and simulation obtained by the hybrid bond graph modeling are presented in this paper.
Highlights
This paper presents application of the hybrid bond graphs modeling and simulation laboratory anti-lock braking model using Dymola
In this work we will described prototipe of the ABS brake system made by INTECO, Fig. 1 (Inteco, 2008)
This INTECO model of an ABS is driven by two DC motors, where the angle rotations is measured by three sensors
Summary
The following equations are used for described the friction force: s = sgn(r2 x2 − r1x1) This INTECO model of an ABS is driven by two DC motors, where the angle rotations is measured by three sensors. The upper wheel dynamics is described as: model consists of two rolling wheels: upper wheel is imitation of the vehicle, and lower Dynamics of the lower wheel is showen in equation: J2 x&2 = −Fnr2sμ (λ ) − d2 x2 − s2M20 (3) The moment of the inertia, the viscous friction coefficient and the static friction of the lower wheel are respectively J2, d2, M20.
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