Dissertations / Theses: 'Anti-lock system'

1

Jandric, Kristian, and Lucas Andersson. "Anti-lock braking system for bicycles." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296316.

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An attempt was made to construct an ABS system that would both lock the wheel and release the brakes. The system would be mounted on a bicycle with v-brakes. It would then be tested if it could decrease the braking distance and if the system would respond fast enough. A literature study was made to learn what was needed for such a project. After many attempts of using re-purposed components an ABS system would eventually be built with a new stepper motor, and it was strong enough to lock the back wheels. Unfortunately the system could not be as thoroughly tested as expected, where only the reaction time of the system could be tested and not the braking distance due to a motor driver failure prior to the tests taking place. Due to shipping times and our budget and time constraints, further testing could not be done.
Ett försök att bygga ett ABS system som både låser hjulet samt släpper på bromsen gjordes. Systemet skulle kunna monteras på en cykel med fälgbromsar. Systemet skulle testas genom att mäta skillnaden i bromssträcka samt om reaktionstiden var snabb nog. En litteraturstudie gjordes för att få tillräcklig kunskap om vad som krävdes för ett sådant projekt. Efter många försök med att använda olika återanvända komponenter kunde ett ABS system till slut konstrueras med hjälp av en ny stegmotor, som var stark nog för att låsa bakhjulet. Tyvärr kunde bara systemets reaktionstid testas och inte bromssträckans förändring. Detta berodde på en motordrivare slutade fungera. På grund av frakttider och en fast budget samt en tidsbegränsning, kunde inte ytterligare tester genomföras.

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2

Penny, Wietsche Clement William. "Anti-lock braking system performance on rough terrain." Diss., University of Pretoria, 2015. http://hdl.handle.net/2263/56099.

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The safety of motor vehicles is of primary concern in the modern age as the death rate of road users are still at unacceptably high numbers and is the second largest cause for unnatural death worldwide. Consumers often expect unrealistic performance and comfort levels from their vehicles regardless of terrain or conditions, and the Sport Utility Vehicle class is often under the most pressure to meet these high expectations. Literature reveals that the performance of Anti-lock Braking Systems (ABS) deteriorates on rough off-road terrains due to a number of factors such as axle oscillations, wheel speed fluctuations and deficiencies in the algorithms. This leads to complications such as loss of vertical contact between the tyres and the terrain and poor contact patch generation that eventually results in reduced longitudinal force generation. In this study, an ABS modulator is retrofitted on a test vehicle to perform brake pressure control. The hydraulic modulator is controlled by an embedded computer, running the Linux operating system, onto which a slightly modified version of the Bosch ABS algorithm is coded in C-language. Brake tests are conducted with the vehicle on hard concrete terrains for both smooth roads and rough Belgian paving. The algorithm is also implemented in Matlab/Simulink using co-simulation with a validated non-linear full vehicle ADAMS model employing a validated FTire tyre model. The co-simulation model was validated with the test data on both flat and rough terrains and experimental results correlate well with simulation results when the recorded brake pressures from the test data are given as input to the simulation model. Test data and simulation results indicate that wheel speed fluctuations can cause inaccuracies in the estimation of vehicle velocity and excessive noise on the derived rotational acceleration values. This leads to inaccurate longitudinal slip calculation and poor control decisions respectively. Although possible solutions to the identified problem are not explored in detail, the developed simulation model and test vehicle can be used to test improved ABS algorithms and suspension control strategies to solve the deterioration of ABS performance on rough terrain.
Dissertation (MEng)--University of Pretoria, 2015.
tm2016
Mechanical and Aeronautical Engineering
MEng
Unrestricted

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Veppathur, Sivaramakrishnan Srikanth. "Discrete Tire Modeling for Anti-lock Braking System Simulations." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/51424.

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Tires play an extremely important role in the operation of a vehicle as they transmit forces between the ground and the vehicle. Consistent efforts have been made over the years towards modeling and simulation of tires and more recently, there has been an increasing need to understand the transient response of tires to various high-frequency events such as anti-lock braking and short-wavelength disturbances from the road. Major thrust has been provided by the tire industry to develop simulation models that accurately predict the dynamic response of tires without the use of computationally intensive tools such as FEA.

The objective of this research is to explain the development, implementation and validation of a simulation tool based on a dynamic tire model that would assist in the analysis of the effect of tire belt vibrations on the braking performance of a vehicle. A rigid ring tire model, tandem elliptical cam enveloping model and a rule-based ABS model have been developed for this purpose. These were combined together in a quarter vehicle model and implemented in Matlab-Simulink. These models were developed for adaptation with CarSim to provide a simulation tool that can be utilized in both tire and vehicle design processes. In addition to model implementation, a parameterization procedure was developed to estimate the parameters of the rigid ring tire and enveloping model based on experimental data for a given tire. Validation studies have also been performed to ensure the accuracy and validity of the tire model. Following this, the braking performance of ABS under different road surfaces were evaluated. Based on the simulation results, final conclusions were drawn with regards to the analysis and detailed recommendations for future work directed towards the improvement of the tool were provided.
Master of Science

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Okyay, Ahmet. "Sliding Mode Control Algorithm Development For Anti-lock Brake System." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613568/index.pdf.

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In this thesis, a sliding mode controller employing a new sliding surface for antilock brake system (ABS) is proposed, its stability is proven formally and its performance is compared with existing sliding mode controllers. The new sliding mode controller uses the integral-derivative surface, which includes error, its derivative and its integral, all at the same time. This and the already existing derivative surface, which includes error and its derivative only, are named zerothorder sliding surfaces. Their stability analysis is done using first-order auxiliary surfaces. Auxiliary surfaces equal the sliding surfaces when derivative of the error becomes zero. The first-order error surface, which includes only the error, and the integral surface, which includes error and its integral, were also designed for comparison. During design, tire brake force response is modelled as an uncertainty. Controllers are simulated on a road with an abrupt change in road coefficient of adhesion. Controller parameters used are optimized, which results in comparable stopping distances while braking on a constant coefficient of adhesion road. Effect of first order actuator dynamics with varying time constants and actuator absolute time delay were considered. Reaching and sliding properties of controllers were also investigated, using results on a constant coefficient of adhesion road. It is observed that zeroth-order sliding surfaces give smoother response for both derivative and integral-derivative cases. As the controllers employing error and derivative surfaces get unstable in the presence of actuator time delay, the integral-derivative surface, proposed in this study, stands as the best controller.

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Ait-Hammouda, Islam. "Modélisation hybride des algorithmes d'anti-blocage des roues (ABS)." Paris 11, 2007. http://www.theses.fr/2007PA112075.

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Dans cette thèse on s'intéresse au problème du contrôle longitudinal des véhicules, plus particulièrement aux algorithmes d'anti-blocage des roues -ABS-. L'objectif est de modéliser et d'étudier une catégorie de systèmes anti-blocage de roues proche de celles utilisées dans l'industrie -basée sur les seuils de décélération-. D'abord, à partir de l'analyse des trajectoires du système, on proposera des conditions sur les seuils de décélération qui optimisent le freinage du véhicule. Ensuite, on s'intéressera à l'impact d'une discontinuité de l'adhérence pneu/sol sur la dynamique du système, un algorithme ABS qui prenne en charge ce type de phénomènes est proposé et étudié. Il nous sera aussi utile pour analyser, sous forme de simulations, l'impact des variations de charge sur les performances des algorithmes ABS. L'interaction des systèmes de sécurité offre de nos jours de nouvelles opportunités pour augmenter performances du véhicule et améliorer le confort du conducteur. Ceci nous a poussé à étudier l'interaction entre les algorithmes ABS des quatre roues. Des solutions à des problèmes tel que : les remontées d'efforts au volant, le manque de conditions satisfaisantes à l'estimation de la vitesse véhicule (garantir au moins une roue dans la zone stable du pneumatique), sont proposées. La dernière partie de cette thèse est consacrée au suivi de trajectoire d'un véhicule avec point de visée. Des lois de commande par retours d'états statiques en l'erreur et de type saturation emboîtée sont proposées. L'objectif de cette partie étant d'introduire l'étude d'un modèle conducteur, qui nous sera utile à l'analyse des performances des algorithmes ABS
In this thesis we were interested on the problem of longitudinal control of vehicles, and more particularly on anti-lock brake algorithms or ABS. The main objective is to model and to study a category of anti-lock brake systems similar to those used in industry (based on deceleration thresholds). Starting from the analysis of the system's trajectories, we will propose conditions on the deceleration thresholds that optimize the braking force of the vehicle. Then, we will be interested in the impact of discontinuous transitions of road characteristics on the system's dynamic. An ABS algorithm that deals with this type of phenomena is proposed and studied. It will be also useful to analyze, using simulations, the impact of vertical force variation on the ABS algorithms performances. Nowadays, The safety systems interaction offers new advisabilities to increase vehicle performances and to improve the driver's comfort. This pushed us to study the interaction between the ABS algorithms of the four wheels. Some solutions that deal with problems such as: the increase of efforts at the wheel, the lack of satisfactory conditions to the estimate the vehicle's speed (to guarantee at least one wheel in the stable zone of the tire), are proposed. The last part of this thesis is devoted to the trajectory following of a vehicle with point of vision. Feedback static controllers (Saturation Type) are proposed. The objective of this part being to introduce the study of a driver model, which will be useful for the analysis of the of the performances of ABS algorithms performances

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6

Li, Chen. "A simple and low cost anti-lock braking system control method using in-wheel force sensor and wheel angular speed sensor." Thesis, Coventry University, 2017. http://curve.coventry.ac.uk/open/items/aebcb301-fec5-4684-945c-020817157509/1.

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The ABS (Anti-lock Braking System) is an active safety system that is designed for emergency braking situations. In an emergency braking scenario, the ABS instructs the disk-pad braking force to achieve the maximum available tyre-road braking force without locking the wheels. The maximum available tyre-road braking force helps to achieve the optimal braking distance, while the rotating wheels allow the vehicle to retain directional control capability, which allows the driver to avoid dangerous obstacles during an emergency braking scenario. This research has delivered a new and novel approach to ABS design, which could be developed at a low cost in a way which will benefit specialist and niche vehicle manufacturers alike. The proposed ABS control method combines the control logic from both theory-based ABS and commercialised ABS. Therefore, it is more practical compared to the theory-based ABS and less complex compared to a commercialised ABS. The control method only has two control phases with simple decrease, hold, and increase control actions. The proposed ABS control method uses representable tyre-road braking force data from an in-wheel-hub force measurement sensor as well as wheel angular acceleration data from a wheel angular speed sensor as control references. It uses the detected peak tyre-road braking force and its relative predefined drop percentage as control activation and control phase alternation triggers. It uses wheel angular acceleration to identify the control phase and implement the correct control actions. Zero wheel angular acceleration is used to trigger the hold control action in the first control phase, while wheel angular acceleration is used as an aid to increase the accuracy of the in-wheel-hub force sensor. An ADAMS full vehicle model based on a Subaru Impreza and a Simulink ABS control logic model have been used to establish a co-simulation environment to test the performance of the proposed ABS control method using high, low friction and split-mu road surfaces. The co-simulation results demonstrate that the proposed novel ABS control method satisfies the ABS control target, and its control results are similar to commercialised ABS.

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7

Ashby, Ryan Michael. "Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155.

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8

Schejbal, Jan. "Vliv vybraných elektronických systémů podvozku na jízdní dynamiku vozidla." Master's thesis, Vysoké učení technické v Brně. Ústav soudního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-232497.

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This work deals with the impact of selected electronic chassis systems of modern vehicles, their driving dynamics. The general aim of this work is to create the basic methodology for assessing casualties of the influence of these systems. The thesis is describing functions and effects antilock and stability systems on vehicle dynamics. Below are possible methods and systems for determining the influence on accident plot. As part of the study was performed measuring the impact of anti-lock system on the vehicle. The result of this work is the basic methodology to the analysis of road accidents involving vehicles with electronic chassis systems.

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9

Zheng, Lin. "Model-based condition monitoring of anti-lock braking systems." Thesis, University of Huddersfield, 2014. http://eprints.hud.ac.uk/id/eprint/20331/.

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The Anti-lock Braking System (ABS) is one of the most important safety features in modern vehicles. It is a device integrating complicated electronic systems, hydraulic systems and mechanical components. It is possible to produce faults in these systems due to extreme vehicle operating conditions, which may lead to the failure of the ABS. However, there has not been an effective mechanism available in current operation and service facilities, which allows the performance of the ABS to be checked on-board or at a service base. This research therefore aims to investigate and develop approaches which allow the ABS systems to be monitored in different ways. As the ABS is a highly integrated system, conventional monitoring methods cannot be applied to it directly. The primary objective of this research is to develop a condition monitoring model for a typical ABS system under different conditions and then to monitor the dynamic characteristics and performance of the ABS according to simulation and experimental results. The Rapid Control Prototype (RCP) technique is used by applying dSpace MicroAutoBoxII on the ABS controller. A full mathematical model has been developed to simulate the ABS system under different conditions and seeded fault conditions. This results in a full understanding of the characteristics of measurable variables such as wheel velocity and vehicle velocity. This work has led to the conclusion that a model-based condition monitoring approach is the method with the most potential for the monitoring of the ABS systems. To overcome inevitable measurement noise and model uncertainties, a Kalman filter (KF) has been designed and evaluated through both simulation data and experimental results. This has been found to have acceptable performance and has subsequently been incorporated into the model-based condition monitoring system. The performance of the model-based condition monitoring system has been evaluated using an ABS test system. The ABS test rig consists of the basic ABS components and also the dSpace MicroAutoBoxII components, together with NI data acquisition equipment. The ABS test rig developed in this research is highly flexible to allow experimental investigations under different fault conditions with different severities. It has demonstrated that the monitoring system can reliably detect different possible faults in the ABS such as speed sensor failure, solenoid valve sticking or stuck, hydraulic fluid leakage and pump efficiency loss. All these faults occur with high possibility according to a systematic failure mode analysis based on that of similar components. Obviously, there is still considerable work which needs to be carried out to adopt this system in industry. For example, interfaces to integrate this new system into existing vehicle electronics should be investigated. In addition, specific fault conditions from different vehicle manufacturers should be simulated to tailor the system to specific vehicles specifically.

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10

Elshanti, Ali Hassan. "Model-based fault detection and diagnosis of anti-lock braking systems." Thesis, University of Manchester, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.548675.

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11

Hoang, Trong bien. "Switched observers and input-delay compensation for anti-lock brake systems." Phd thesis, Université Paris Sud - Paris XI, 2014. http://tel.archives-ouvertes.fr/tel-00994114.

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Many control algorithms for ABS systems have been proposed in the literature since the introduction of this equipment by Bosch in 1978. In general, one can divide these control algorithms into two different types: those based on a regulation logic with wheel acceleration thresholds that are used by most commercial ABS systems; and those based on wheel slip control that are preferred in the large majority of academic algorithms. Each approach has its pros and cons [Shida 2010]. Oversimplifying, one can say that the strength of the first ones is their robustness; while that of the latter ones their short braking distances (on dry grounds) and their absence of limit cycles. At the midpoint of this industry/academy dichotomy, based on the concept of extended braking stiffness (XBS), a quite different class of ABS control strategies has been proposed by several researchers (see, e.g., [Sugai 1999] and [Ono 2003]). This concept combines the advantages from both the industrial and academic approaches. Nevertheless, since the slope of the tyre characteristic is not directly measurable, it introduces the question of real-time XBS estimation. The first part of this thesis is devoted to the study of this estimation problem and to a generalization of the proposed technique to a larger class of systems. From the technological point of view, the design of ABS control systems is highly dependent on the ABS system characteristics and actuator performance. Current ABS control algorithms on passenger cars, for instance the Bosch ABS algorithm, are based on heuristics that are deeply associated to the hydraulic nature of the actuator. An interesting observation is that they seem to work properly only in the presence of a specific delay coming from the hydraulic actuation [Gerard 2012]. For brake systems that have different delays compared to those of hydraulic actuators, like electric in-wheel motors (with a smaller delay) or pneumatic trailer brakes (with a bigger delay), they might be no longer suitable [Miller 2013]. Therefore, adapting standard ABS algorithms to other advanced actuators becomes an imperative goal in the automobile industry. This goal can be reached by the compensation of the delays induced by actuators. The second part of this thesis is focused on this issue, and to the generalization of the proposed technique to a particular class of nonlinear systems. Throughout this thesis, we employ two different linearization techniques: the linearization of the error dynamics in the construction of model-based observers [Krener 1983] and the linearization based on restricted state feedback [Brockett 1979]. The former is one of the simplest ways to build an observer for dynamical systems with output and to analyze its convergence. The main idea is to transform the original nonlinear system via a coordinate change to a special form that admits an observer with a linear error dynamics and thus the observer gains can be easily computed to ensure the observer convergence. The latter is a classical method to control nonlinear systems by converting them into a controllable linear state equation via the cancellation of their nonlinearities. It is worth mentioning that existing results for observer design by error linearization in the literature are only applied to the case of regular time scalings ([Guay 2002] and [Respondek 2004]). The thesis shows how to extend them to the case of singular time scalings. Besides, the thesis combines the classical state feedback linearization with a new method for the input delay compensation to resolve the output tracking problem for restricted feedback linearizable systems with input delays.

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12

Cuderman, Jerry Ferdinand. "Performance of passenger vehicle anti-lock braking systems : an experimental study /." Access restricted to users with UT Austin EID Full text (PDF) from UMI/Dissertation Abstracts International, 2001. http://wwwlib.umi.com/cr/utexas/fullcit?p3036589.

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13

Hong, Sh-Chau, and 洪士超. "The Fuzzy Control of Anti-lock Brake System." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/47016927703654514049.

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碩士
大葉工學院
機械工程研究所
85
Due to the efficiency problem of the mechanical anti-lock bra-king system (ABS) for motorcycle, this thesis aims to study the electrical-control ABS. Wecompare two kind of ABS for experiment,and design the fuzzy controllers respe-ctively for them. In simulation, we develop the mathematical models of the vehicle dynamics, braking force and hydraulic system dynamics. We find out the relationship of friction force and slip in order to design the fuzzy controller with slip as the reference input. Also, we design the fuzzy controller that its input isthe angular velocity and acceleration of the wheels. Matlab is utilized to si-mulate dy-namics of ABS to provide some reference for the design of the actualcontroller. In experiment, we design the test platform to test and understand the func-tion of anti-lock brake system. In the platform, we can mea-sure the desired experiment data. Further, we can adjust the controller parameters to improve the ABS operation. It is certified that the developed fuzzy controller has achieved its desired result by experiment result.

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Wu, Meng-Tzong, and 吳孟宗. "Anti-lock Braking System For Unmanned Aerial Vehicle." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/30048103425894589796.

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碩士
逢甲大學
自動控制工程學系
89
Anti-lock brake system (ABS) is an equipment that can prevent a vehicle out of control from the lock-up of the wheels during braking. Commercial aircraft and fighters generally equip with ABS devices, but they are complicated, expensive and heavy. For Unmanned Aerial Vehicle (UAV), the device should be simple, low-cost and light-weigh. In this thesis, we develop a fuzzy logic based UAV ABS, which includes a simple wheel speed sensor, a flight control computer and a fuzzy controller. The implementation of fuzzy rule base is intended to infer appropriate brake torque and achieve excellent braking performance. Our purpose is to design an efficient strategy for the design of a simple, light-weigh, low-cost and safe ABS for the UAV. We have developed a complete mathematical model describing the UAV landing behavior with the dynamical property of braking, which includes the vehicle dynamics, aerodynamics, tire force model and hydraulic system dynamics. Fuzzy logic control theory is used to design the ABS controller. Based on the software tool Matlab and Simulink, we construct a complete ABS simulation platform. Extensive computer simulations show that the proposed strategy is effective and shown to meet the performance requirement. Keyword：Anti-lock brake system (ABS), Unmanned Aerial Vehicle (UAV), Fuzzy Logic Control

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陳達享. "Design and analysis of fuzzy anti-lock braking system." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/74458807187555479513.

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Chen, Tzu-Hao, and 陳子豪. "Study of a Anti-Lock Braking System for Scooters." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/38yv79.

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碩士
國立屏東科技大學
車輛工程系所
105
According to a new regulation of Taiwan, all new factory scooters must be equipped with Anti-Lock Braking System (ABS) or combined brake system (CBS). This regulation was initiated by European Union and is the main trend of the global safety standards for scooters. Currently, most of the ABS products are for hydraulic disc brake system, it is seldom designed for drum brake systems. However, among about 70 million scooter sales around the world every year, about 70% are of middle-low price scooters and are equipped with drum brake either on rear wheel or on both the front and rear wheels. Therefore, this thesis is focused on developing an ABS system for scooter drum brake system. For scooters, besides emergency brake condition, most of brake operations are using rear wheel brake with a force range of no more than 15 kilogram applied to the brake hand lever. Because rear wheel locked up may cause vehicle sideslip and thus loss vehicle directional stability. this thesis is aimed at rear drum brake ABS, hereafter DABS. The DABS is of closed-loop electronic control system. The control module estimates rear wheel slip ratio during braking on-line, when the rear wheel slip ratio is over a specific value, the control module preciously adjusts wire tension of the rear brake to make the ABS control. With this aim, the works in this thesis include mechanism design for ABS actuator, system design, wheel slip ratio estimation, road friction estimation, control algorithm design, numerical simulations, and finally the performance verification experiments. The proposed DABS has been implemented on a 125cc light weight scooter. The test results on emergency brake from 60 Km/hr to stop showed that for the case of braking without ABS control, rear wheel will be locked-up with the slip ratio of 100%, while the case for the DABS applied, the slip ratio was well controlled within 10%~40%, and the resulting deceleration can reach 0.43G, only degrade 0.02G compared with the case for without ABS applied. Furthermore, the effect of the DABS failure has been performed. It was shown that the failure of the DABS has no effect on the efficiency of the original braking systems. Keywords：Anti-Lock Braking System, Vehicle Dynamics, Road Friction Estimation, Slip Ratio Estimation, Sliding Mode Control.

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Wang, yu-chi, and 王毓麒. "The Control And Experiment For Anti-Lock Braking System." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/17943084125574656557.

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碩士
大葉工學院
機械工程研究所
84
This thesis is the research for the special properties of anti- lock braking system and propose the design named anti-lock braking fuzzy controller. Also design another testing platform of anti-lock braking in order to practice the designd controller and make necessary verification and execute the laboratory research of anti-lock braking system. According to the development of theory, we have inferred the mathematicmodels based on the dynamic propert y of braking which include vehicledynamic tire force model and hydraulic system dynamics. Then figures theseout by fuzzy controlling principle and control the solenoid valve of hydraulic braking system through fuzzy inference which may keep the braketorque around the best value and achieve the demand of minimum brakingdistance and best operating control. Through simulink in matlab software,the block diagramof anti-lock braking system is constructed and thecomputerized imitation of anti-lock braking system has provided technicalreference to design the fuzzy controller by real parameters by hard wareequipment. For the development on testing platform, in order to test and understandthe motivated efficiency of anti-lock barking controller, this testingplatform has been designed according to the theory experience and enableus to obtain all laboratory figures and cross-testify them. We may have complete understanding on the operation of anti-lock brakingsystem and judge the situation of controller to make improvement orrectification. It is certified that this fuzzy controller has achievedits efficiency by laboratory result.

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Yang, Yih-sheng, and 楊易昇. "On the Implementation of Anti-lock Brake System for Motorcycles." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/64093109862547326640.

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碩士
大葉大學
機械工程研究所
88
This thesis continues the research of the pressure regulator for the ABS(Antilock Brake System) on motorcycle. According to the previous study, we designed and implemented a new mechanism of pressure regulator. In this thesis, we changed the outside oil circuit into the regulator to reduce the dimension of the regulator and prevent leakage. From the tests, we know that the new regulator can reduce the internal leakage of the braking oil. Then we designed two controllers with the feedback of slip ratio and angular velocity of the wheel respectively, and test their performance on the experimental platform. We also tried to use the tri-axial accelerometer to measure the acceleration of the motorcycle during its motion, and compute its velocity with numerical integration. After having the velocity data of motorcycle, we can use the controller with the feedback of slip ratio in the real road running, and it provides the reference for the dynamical analysis.

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Lin, Jhe-Wei, and 林哲偉. "Hybrid Anti-Lock Braking System for Motorcycles Using Magnetorheological Brake." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/8ncbjh.

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碩士
國立臺北科技大學
車輛工程系所
101
Magneto - rheological fluid (MRF) is a new development of smart materials. It is studied and applied widely in the braking damping systems because of the controllable viscosity changes with applied magnetic field at almost linear relationship, reversible and fast response time and other characteristics. Nowaday, control algorithm using in anti-lock braking system (ABS) is the same common method which is to use on-off control valve. The valve can be controlled by increasing the switching frequency to improve braking performance, but the method is limited by the system itself existing in hydraulic switching valve reaction time and frequency. Therefore, if an MR brake system with fast response time combines to a conventional braking system, It can effectively improve the braking performance and stability. In this thesis, a hybrid ABS braking system using MR brake is proposed, Dynamic simulation and analysis were conducted. Speed estimator used in this study is continually estimated lateral speed which calculates vehicle slip values. Road Condition Estimation is used to obtain the best ideal slip value. ABS control using Self-Organizing Fuzzy controller with two kinds of fuzzy controller. The hybrid ABS brake system is composed of the hydraulic system and the MR brake system. The combination of the two systems was simulated and analyzed by dynamic analysis software for pure MR ABS braking system and hybrid ABS braking system using MR brake. The controller is divided into general fuzzy controller with two kinds of self-organizing fuzzy ABS controller. The results shows that self-organizing fuzzy controller provides high adaptability on the road while braking performance can be improved up to approximately 18%. Hybrid ABS systems using MR brake are divided into three types: fixed-oil -pressured hydraulic system, filter-typed system and switch-valve-typed system. The simulation results of those three systems show that the hybrid ABS system overall performance increased to about 8 % efficiency compared to conventional hydraulic ABS system. This system is expected to be applied for future vehicle.

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Cuderman, Jerry Ferdinand 1966. "Performance of passenger vehicle anti-lock braking system : an experimental study." 2001. http://hdl.handle.net/2152/10328.

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ke, Bo-hung, and 柯柏宏. "A Study of Anti-lock Brake Control System for Cambering Motorcycle." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/47737897606971878413.

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碩士
國立成功大學
機械工程學系碩博士班
96
The purpose of this study is to discuss ABS control system conclude lateral acceleration when the motorcycle has camber and steer angle. First, the study constructs the nonlinear model of motorcycle which has camber and steer angle, then it accedes the ABS model and Pacejka tire model to simulate the process of the brake. The controller of the ABS is composed of the control logic for the determination of the commands to the ABS controller and the control rule for the tracing of the commands. The common physical variables utilized in the ABS control logic are slip ratio, wheel angular velocity, brake pressure and so on. The study is to use brake pressure, wheel angular acceleration and lateral acceleration feedback to establish a pressure control logic for estimating the pressure adequately and to design a fuzzy-sliding mode controller to trace the pressure command.

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22

Hsu, Kang-Lun, and 許綱倫. "The Analysis and Control for Motorcycle MRF Anti-lock Braking System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/nzc53q.

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碩士
國立臺北科技大學
車輛工程系所
97
Magnetorheological fluid(MRF) is a kind of smart material that has great performance. Its physical property (viscosity) can be changed by applied external magnetic field. The changing process is fast, reversible and highly controllable. In automobile field, this property is usually applied to design new brake, suspension, clutch, etc. There are three parts in this thesis. The first part derived the dynamic braking models of single wheel for a motorcycle, and discussed the nature of Anti-lock Braking System(ABS). In the second part, a MRF ABS test bed was built to examine the transient and steady state responses of brake in order to build mathematic brake models. The last part combined the dynamic models in the previous two parts to design an ABS Fuzzy controller. Simulation results of this controlled MRF ABS is analyzed, and experiment is also performed to verify simulation results.

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23

Mohan, S. "Design And Development Of An Improved Anti-Lock Braking System For Two-Wheelers." Thesis, 2010. http://etd.iisc.ernet.in/handle/2005/1279.

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In today’s fast moving world, automobiles are facing challenges in terms of having to survive road accidents, increasing traffic, bad road-conditions and high/express ways. Brake systems play a vital role in controlling the vehicle speed while avoiding road accidents. The conventional brake systems consist of basically an actuator, transmission and frictional parts. This system is difficult for manipulated control by the driver during emergency and panic braking situations. In particular road and environmental conditions, it requires certain skill to have safe and effective brake control, which is always not possible from all drivers. Wheel locking is a predominant phenomenon during panic braking and this will cause vehicle skidding resulting in injuries and road accidents. In the case of a two-wheeler, being a single-track vehicle, skidding is one of the major causes for fatal road accidents due to loss in lateral balance. As the road safety regulations are becoming more stringent, the anti-lock brake systems (ABS) will replace the conventional brake systems in all road vehicles to avoid accidents and to improve vehicle safety. Early ABS systems, developed in the last 100-years, use intermittent and cyclic brake pressure control by sensing the wheel speed or wheel-slip as one of the major control inputs. Regulating the brake pressure with a preset threshold value is another method. These ABS systems have used electronics, or hydraulics or pure mechanical control. However, such ABS are not widely used in two-wheelers and other low cost vehicles till now, because of several limitations identified as follows: High cost, power supply needed for its operation in the case of intermittent and cyclic brake control, susceptibility to failure in the electronics system, interference from RF signals (from cell-phones for example), uneasiness to drivers from pedal pulsations with pedal noise, heavier weight, increased vehicle vibrations and failure modes of wheels due to torsional vibrations. The present research work is carried out to develop a new mechanical ABS concept, which will address most of the above problems. During braking, the change in rider-input force will change wheel reactions. This change is made proportional to the change in rider input force only upto wheel locking. Such a principle is used to develop the new mechanical ABS. The new concept regulates the output force from the ABS, by sensing the dynamic wheel reactions with increase in rider-response. The ABS output force is regulated by one of the following ways: (a) Slipping-down the lever-ratio or (b) preventing the excessive brake input force. Based on the parameters like less number of parts, least weight, simplicity, reliability, efficiency, durability, time-response, etc., the second method (of preventing the excessive brake input force) has been chosen. Further a new concept of ABS interconnecting system is proposed for usage between the front and rear wheels of the vehicle. This interconnecting system will ensure that the two mechanical ABS systems function at any kind of braking-balance between the front and rear applications. An analytical vehicle model has been developed with several input parameters like mass, geometry, inertia, aerodynamic properties, frictions of road and bearing-supports, road gradients, etc. From this analytical model, the dynamic wheel reactions and limiting adhesion of each tyre for various braking conditions are determined and the results are used to design the mechanical ABS. The same analytical model is used to predict the brake performance like stopping distance, vehicle deceleration and the vehicle speed variation for ideal braking conditions. The new ABS is modelled in Pro-E using the inputs from the analytical model. To evaluate the concept, a functional proto-type is built and fitted on a motorcycle. The ABS is evaluated for its functionality and performance at different road (level surface, up-gradients and down gradients) and environmental conditions (dry and wet road conditions). Using the VBOX II, proximate sensors and load-cells fitted on the vehicle, the vehicle stopping distance, wheel slip and pedal force are measured. The results show that wheel locking does not occur under panic driving conditions, which is the primary objective. In addition, the results show a good agreement with the predicted stopping distance and vehicle deceleration from the analytical model. As there is good scope for this new mechanical ABS for use in two-wheelers and other low cost vehicles, further research is needed to make this system work in curvilinear motion & banked surfaces.

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24

陳義彬. "The Design and Experiment of Fuzzy Control for Anti-Lock Brake System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/53799705751276324002.

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碩士
國立臺北科技大學
車輛工程系碩士班
90
The goal of this paper is to investigate the design of fuzzy control for anti-lock brake systems. The proposed controller is experimentally validated to effectively decrease stopping time and stopping distance. In controller design, Matlab/Simulink is used to establish the model of an anti-lock brake system and fuzzy logic is used to design the controller. This controller uses desired slip as reference input and uses fuzzy logic to determine whether braking pressure is increased, decreased or held. The relation between longitudinal force and slip is obtained from the simulation of the system model to determine the desired slip. Then, the slip is controlled in a desired range by using the proposed controller. The proposed controller is implemented in a test platform. In this platform, a tire balance machine is used to drive a big wheel. The big wheel then drives a small wheel through sliding contact. The speed of the big wheel can be considered as vehicle speed and the speed of the small wheel can be considered as vehicle wheel speed. Three kinds of friction coefficient between two wheels are applied by using direct contact, water and oil. A screw rod is used to change the normal force between two wheels. The experimental results indicate that stopping time and stopping distance with control are shorter than that without the control under any friction coefficient and normal force.

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25

Chu, Yi-Tsang, and 朱奕蒼. "Research and Development of Anti-lock Brake System using Road Condition Estimation." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/4k7xqd.

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碩士
國立臺北科技大學
車輛工程系所
100
Road condition estimation is used to design anti-lock brake system in this paper. First, normal force estimator and braking force estimator are used to obtain the estimation of the road friction coefficient. According to the estimated road friction coefficient and tire slip ratio, road condition estimator is used to obtain the target slip ratio. The target slip ratio control is then transformed into wheel speed control. Feedforward and feedback control are used simultaneously to adjust the braking pressure according to the wheel speed error. Simulation results showed that the proposed algorithm can detect the change and road friction coefficient and maintain the slip ratio in the stable region. Comparing to the conventional slip ration control, not only the braking performance on the low friction road surface is enhanced, but also the stopping time is effectively reduced.

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26

Chang, Po-Ju, and 張博儒. "An Intelligent Wheelchair Anti-lock Braking System Design with Friction Coefficient Estimation." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/9wt7tf.

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碩士
國立交通大學
電控工程研究所
106
In the future, the population’s aging problem will become increasingly serious. For medical care, action-assisted vehicles are one of the solutions. Wheelchair is a common mobility assistance equipment and the safety of the user is an important issue. For the ordinary wheelchairs, most of them use a fixed handbrake or disc brake to allow the users to stop the wheelchair. However, improper use of brakes tends to cause slippage, and there is no concept of the anti-lock braking system for the wheelchair. Therefore, this paper applies this idea to intelligent wheelchairs with the aim of enhancing the safety of users in wheelchairs. The anti-lock braking system architecture includes the core algorithms of adaptive fuzzy neural inference system and the friction coefficient estimation system. The friction coefficient estimation system uses particle filter to quickly adapt to a non-linear state and unknown environment. The system provides more accurate braking control for the anti-lock braking system according to the range of the friction coefficient based on the pavement type. In ABS, it uses the gyroscope to detect the acceleration and wheelchair angle information and then calculates the parameters of wheelchair. The user clicks the stop command on the wheelchair to activate the brake system to achieve a simple and efficient mode of operation. It can efficiently reduce the braking time, braking distance and enhance the riding safety of wheelchairs.

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27

YU, YU-FANG, and 游玉芳. "State Estimation and Control of Anti-lock Brake Control System for Motorcycles." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/r39qh8.

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碩士
大葉大學
機械與自動化工程學系
107
The opjective of discuss the motorcycle braking control performance using the ABS system to control the longitudinal slip. Using the computer software as the difference between the vehicle speed and wheel speed is calculated as slip ratio, and the error reference is fed back to the PID controller for the control input signal. The ABS controller is designed for control slip ratio simulation. This research is uses the BikeSim to bulid the motorcycle typo and road typo. According to motorcycle dynamic, wheel frictional force with slip ratio, wheel force influence to design a ABS PID controller in Matlab. The differencebetween the dry road, wet road, ice road to control slip ratio simulation. And uses the slip ratio predictor to estimate the motorcycle velocity and acceleration as the control input signal. Then,the ABS PID controller is used to control the slip of different friction coefficient roads,and then the variation of the slip control curve when the locomotive is converted to the low friction coefficient road surface is discussed.

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28

Chu, Jian-Cheng, and 邱建誠. "YAMAHA YP250A Motorbikes Anti-lock Braking System Design Simulation and Test Data Analysis." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/28487273446671140027.

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碩士
中華科技大學
電子工程研究所碩士班
98
Brake performance is the main vehicle of security, it relates to driving safety. Vehicle braking performance indicators are the most basic brake deceleration, stopping distance, time and directional stability, braking when the car is able to track the direction of travel specified. If the vehicle's emergency brake of vehicles locked, it is very dangerous, if the front wheel locked, will allow cars to lose steering capabilities; If the rear wheel locked, there will be a drift or sliding, especially in slippery road surface situations, and cause great harm to traffic safety. Therefore, this paper is to car anti-lock braking system used in YAMAHA YP250A heavy locomotive to achieve with the car's braking effect is the same, in addition to collecting information, this research into the system architecture, component characteristics and dynamic model analysis and design, another focus is the overall system model, write MATLAB/SIMULINK programming, simulation, and verify the accuracy of vehicle ABS as a design analysis tool; Different speed 30km/hr, 60km/hr and 100km/hr, the analog wheel speed brake, body speed brake, body stopping distance, brake slip ratio changes, solenoid valve response and body deceleration value. In this study, another road dynamic test, the time of actuation of about one and a half or so, the speed is about 21km/hr in a DSP hardware architecture, the front and rear wheel brake control system to operate independently and separately from the software implementation, the front wheel speed, rear wheel speed, front wheel chaises, rear wheel chaises and slip ratio data, then use the MATLAB / SIMULINK simulation of the slide than the deployment is over 0.2, compared with more than 0.2 if the slide valve opens once the operation to verify the design of the ABS system in this study than the more than 0.2 in the slip-loop control by the control back to 0.2, the known presented results are in line with the actual desired results.

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29

Ying, Chi-Hua, and 應繼華. "Anti-Lock Braking System Design Via Genetic Algorithms and Fuzzy Sliding Mode Control." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/95809687330830016575.

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碩士
國立成功大學
電機工程學系
88
The theme of this thesis is to present the design methods for anti-lock braking system (ABS) by using genetic algorithms (GAs) and fuzzy sliding-mode control (FSMC) to optimize the braking efficiency. First, we survey the existed ABS results and introduce the design procedures of the GAs and FSMC. Second, we address the whole simulation architecture. The whole structure comprises three principal components: (1) identification of road-surface condition, where the vehicle deceleration is used to identify the condition; (2) searching of the optimal slip, where the GAs are exploited to determine the slip based on the road-surface; (3) the design of ABS controller. Two kinds of fuzzy ABS controllers are proposed. One is the fuzzy-sliding mode controller that directly drives the braking torque. The other one is that we apply fuzzy logic controller (FLC) to operate the pressure valve to indirectly control the braking torque. For various road-surface and load conditions, computer simulations demonstrate that all the proposed control strategies are effective and can provide much better performance compared with traditional braking system.

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30

Chang, Shih-Sheng, and 張仕昇. "The Study of Anti-Lock Brake System Via Hardware-in-the-Loop Simulation." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/y9trjp.

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碩士
大葉大學
工學院碩士在職專班
98
This thesis is to derive a mathematical model of vehicle motion, which contains the vertical movement, as well as the hydraulic model and a single tire rolling condition of vehicles when braking, the dynamic tire force effects for the whole body situation. For the mathematical model derived in the context, this study discusses the vehicle braking control performance using the brake controller. The difference between the vehicle speed and the wheel speed is calculated as slip ratio. The error between the reference and real slip ratio is feed back to the PID controller for the control process. Different road conditions, e.g. wet or dry road surfaces, are used to evaluate the controller performance. Simulations show that this controller can effectively shorten the brake time and stopping distance. This research uses the concept of hardware in the loop simulation. Controller and brake test platform is integrated through the actual brake hydraulic system design with the predefined model. Simulation and HIL are compared to confirm the designed controller, and to reduce the error between simulation and experiment.

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31

Chou, Tzu-Yao, and 周子堯. "Development of an Anti-Lock Braking System for Motorcycle with Magneto-Rheological Brakes." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/aqcq7a.

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碩士
國立臺北科技大學
車輛工程系所
99
MRF is one kind of intelligent liquid with outstanding performance. After Appling a magnetic field, it can transform thin liquid to thick liquid, and this transformation is quick, controllable and reversible, fluid. This excellent characteristic vehicles enables its application in, such as brakes, clutch, suspension, etc. This thesis discussed the anti-lock braking system (ABS) to understand the relationship between braking stability and slip ratio. A novel patented magneto-rheological fluid brake, which was invented by our laboratory, was used to provide fast braking response. The fuzzy logic theory was applied to design an intelligent controller for the ABS system. The entire system was simulated by BikeSim to analyze the motorcycle dynamics under different road conditions. The simulated performances for MRF ABS system and conventional hydraulic ABS system were compared. The results showed that the MRF ABS system significantly improved the slipping during brake, and shortened the braking distance. Finally, a MRF brake was manufactured and assembled to be installed in a MRF brake testbed for verification test. The output torque of the MRF brake was tested for different rotational speeds and currents.

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32

John, Samuel. "Development of nonlinear real-time intelligent controllers for anti-lock braking system (ABS)." Thesis, 2013. http://hdl.handle.net/10539/12420.

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The objective of the Anti-lock Braking System (ABS) is to control the wheel slip to maximize the friction coefficient between the wheel and the road, irrespective of the road surface and condition. The introduction of new braking system in road vehicles such as the electromechanical brakes used in brake-by-wire (BBW) system, which has a more continuous braking operation with a high level of accuracy, necessitates the continual review and improvement of the anti-lock braking system. From the control view point, therefore, more refinement of the ABS operation could be achieved with these improved hardware components. This thesis proposes a hybrid controller; combining feedback linearization and proportional, integral and derivative (PID) controllers, and a neural network-based feedback linearisation wheel slip controller. Furthermore, the thesis investigated the viability of a hybrid system of the proposed neural network and a (PID) wheel slip controller system. The hybrid systems, combines the accuracy of slip tracking ability of the PID controller and the robustness of the feedback linearization controller to achieve shorter stopping distance and good slip tracking. The performance of the proposed ABS systems are validated in software simulation and on a laboratory ABS test bench. The results for both controllers revealed their robustness to different road conditions and good slip tracking. This work further confirms the feasibility of a future neural network-based ABS controllers in road vehicles. Keywords: Anti-lock braking systems, Wheel slip, Friction models, Neural networks, PID controller, Feedback linearization controller, Intelligent controller, Hybrid controllers, Realtime embedded systems.

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33

Chen, Chi-Cheng, and 陳啟成. "The Design of an Embedded Anti-lock Brake System for an Electric Vehicle." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/ft33db.

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碩士
國立虎尾科技大學
機械與機電工程研究所
98
Base on the modular concept, the purpose of this study is to design an embedded real-time operating system vehicle controller with a CAN Bus communication interface modules, and Anti-lock Brake System (ABS) function modules. The embedded system, the electromagnetic brake hardware, the ABS control theory, and the design of controller were studied systematically in this paper, and Matlab simulation software was used to simulate and analyze the system model. First introduce Advances of embedded systems and explanation to the ABS working principles were. Then the system structure of the electric vehicle in this study was outlined, which front wheels are equipped with traditional hydraulic disk brake, while rear wheels with electromagnetic brakes force produced by the wheel motor. The purpose of designing an ABS controller is to ensure a proper slip ratio, so that the lock-wheel scenario can be avoided in emergency condition. In addition, the tires still have lateral force to keep steering capability and shorter brake distance can be assured even in a brake lock process. To control the skid ratio mentioned above, the vehicle system model by utilizing a quarter vehicle model dynamic equation and skid ratio formula were thoroughly analyzed. Through the sliding mode controller design, equivalent control and switching control were found. In order to avoid the high frequency chattering phenomenon, the current study proposes that the sign function to replace by the saturation function so that a smoother control can be achieved. Using MATLAB to simulate the sliding-mode controller proposed in the current study, showed controller output gave reasonable expectation. The hardware structure of the embedded real-time operating system vehicle controller is stated as follows. An embedded system motherboard using S3C2440 chip which is base on ARM920T core is selected as hardware structure. μC/OS was used as real-time operating system while C programming language implements the proposed ABS sliding mode control algorithm. As a result, the embedded real-time operating system vehicle controller functions can be fulfilled.

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34

YEH, YUN-YEN, and 葉雲諺. "Hardware-in-the-Loop Simulation of Anti-lock Brake System Control for Motorcycles." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/7tj543.

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碩士
國立臺北科技大學
車輛工程系
107
In this paper, the BikeSim software is used as a reference model, and the whole is divided into hardware in the loop simulation and computer simulation. It uses its own design of vehicle dynamic model, longitudinal tire model, and verification with BikeSim. By designing the vehicle dynamic model by itself, the dynamic information is obtained to know the vehicle speed and the wheel speed to calculate the slip. The PID control of the slip is combined with the switch control to perform pressure modulation, simulating three different friction coefficient roads of high, medium and low. The hardware loop simulation uses a self-designed pressure model to compare with the hardware loop pressure. After comparing the two, the computer simulates the data closer to the actual vehicle data. The pressure is continuously boosted, held in pressure, and stepped down, so that the braking distance and the stopping distance are shortened to achieve the anti-lock braking system function. In this paper, we use the self-built pressure model and vehicle dynamic model. The thesis is divided into computer simulation and hardware loop simulation. When the initial speed is set to 80km/hr, the vehicle speed and the wheel speed change after the controller is started in an emergency situation, and the slip and pressure changes are observed under three different friction coefficients is high, medium and low. The ABS controller controls the slip within the optimal braking force range to obtain the maximum braking force, until the vehicle stops. The oil pressure changes according to the slip. The adjustment pressure is adjusted in the area, and finally less than 10km/hr. That is to exit the ABS mode. In this paper, the hardware loop simulation part uses the same PID parameters and different PID parameters to make adjustment control. After three different friction coefficient pavements are controlled by the same and different parameters for different environments. The effects of vehicle speed, wheel speed and pressure change after the simulation test. It can be seen from this paper that the addition of different parameters has almost no change under the high friction coefficient, but when the friction coefficient is lower, the difference between the different parameters and the same parameters will result in a difference, indicating that the same friction coefficient has been designed for different parameters. Good parameters can effectively reduce the braking distance and braking time.

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35

Hsu, Ting-Yang, and 許廷暘. "Design and Control of a Hydraulic Anti-lock Braking System for the Motorcycle." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/05978097839155861073.

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碩士
國立成功大學
機械工程學系碩博士班
97
The objective of the study is to apply the ABS to motorcycle by designing the anti-lock brake module. The volume-adjustable type ABS is adopted by its possibility of miniaturization. The anti-lock brake modules driven by stepping motor are developed for motorcycle in this study. The real-time hardware-in-the-loop (HIL) simulator is set up for the motorcycle ABS performance test. The real-time HIL simulator is composed of the hardware part (anti-lock brake module), the I/O part (I/O card) and the software part (motorcycle kinematics and tyre model) to build the virtual vehicle.And we ues fuzzy regulator to determine the reference braking pressure then the sliding mode controller is used to do tracking the pressure. A real-time HIL simulator is set up to prove the performance of the hydraulic anti-lock brake module.

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36

Lee, Lian-Chuan, and 李連春. "A Controller Design of a Hydraulic Anti-lock Braking System of a Person Car." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/61569467156832101081.

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碩士
國立成功大學
機械工程學系
85
The objective of an anti-lock braking system(ABS) is to maximize the tiretractive force between wheel and road surface by regulating the braking pistonpressure and to shorten the braking distance whilst maintaining adquate vehiclesteerability and stability. Due to the following reasons the controller design of an anti-lock braking system has some difficulties: (1)High nonlinear relationship of thevehicle-braking system and the tractive force between wheel and road surface.(2)Theoptimal slip ratio, where the maximum tire tractive fore occured, varies with road parameters, vehicle velocity and loads.(3)Time delay of the hydraulic braking system. The main study of the paper is to design an ABS controller: including slip ratio predictor, road condition detector, optimal slip ratio searching and neural-ftuzzy controller. The braking performance is examined on different road conditions, rapidly road conditions change with different loads and pedal forces. The experiments of the ABS controller are undertaken with Ford''s braking devices.

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37

Lu, Chen-Yuan, and 陸振原. "Design and Control of the Hydraulic Anti-lock Brake System for a Light Motorcycle." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/58463071414782295570.

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博士
國立成功大學
機械工程學系碩博士班
93
The objective of the study is to apply the ABS to motorcycle by re-design the anti-lock brake module. The volume-adjustable type ABS is adopted by its possibility of miniaturization. Four anti-lock brake modules driven by electric-motor are developed for motorcycle in this study. The real-time hardware-in-the-loop (HIL) simulator, dynamic test stand and on-road test vehicle are set up for the motorcycle ABS performance test. The real-time HIL simulator is composed of the hardware part (anti-lock brake module), the I/O part (I/O card) and the software part (motorcycle kinematics and tyre model) to build the virtual vehicle. The tyre model is identified from the test data of the tyre adhesive force measurement referred to the Pacejka magic formula tyre model (MFTM). The relationship between the vehicle velocity and the tyre adhesive coefficients is described from the extension of the MFTM. The controller of the ABS is composed of the control logic for the determination of the commands to the ABS controller and the control rule for the tracing of the commands. The common physical variables utilized in the ABS control logic: are slip ratio, wheel angular velocity, brake pressure and so on. The control logics of the ABS manufacturers usually are based experiences obtained from large amount of experiments. The calculation of the slip ratio may be influenced by a rough road surface and limited on its cost of the instrument. The characteristics of motorcycle are large camber angle and the motion of the rider. To overcome these limitations and influences, an intelligent brake pressure control logic is designed in the study. A real-time HIL simulator, a dynamic test stand and an on-road test vehicle are set up to prove the performance of the hydraulic anti-lock brake module.

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38

Yang, Meng-Yao, and 楊孟堯. "Design of Anti-lock Braking System for Electric Vehicle Using Sliding Mode and PI Control." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/ed398p.

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碩士
國立中興大學
電機工程學系所
100
In recent years, the design of electric scooter (ES) uses brushless DC motor (BLDCM) in the place of brushed DC motor. Besides the life of BLDCM is longer, BLDCM has more superior characteristics such as power output than brushed DC motor. This research constructs an anti-lock braking system (ABS) for ES utilizing the braking force generated when electrical energy releases to load to design an anti-lock braking controller which has rapid torque response and compensation for system uncertainty. An electrical ABS is proposed in this thesis associating with dynamic braking and short-circuit braking. PI current controller is used to adjust the braking force, while slip ratio sliding mode control regulates slip ratio into ideal value. For the system realization, first of all, the braking scene is simulated using MATLAB on different road surfaces based on Pacejka’s magic formula tyre model (MFTF). Then, the digital signal processor (DSP) is used as electric control unit (ECU) to design a braking driver. Finally, an experimental test bench is used to verify the proposed system.

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39

Yen-HungLee and 李彥宏. "A Study of Energy Saving in Series Hydraulic Hybrid Vehicle with Anti-lock Brake System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/37570959354157633268.

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碩士
國立成功大學
機械工程學系
102
As an energy saving vehicles of new era, Series Hydraulic Hybrid Vehicles(SHHV) use hydrostatic circuit to replace tradition mechanical transmission, which allowed engine work in high efficiency region and recover vehicle’s kinetic energy during braking. In this article, 3.5 tons of small truck is used as background to analysis the hydraulic circuit structure of SHHV. To raise the energy saving efficiency during braking and driving safety, a new hydraulic anti-lock braking system design concept for SHHV will be proposed in this article. By selecting the appropriate specification of hydraulic components and analyzing the mathematical model of hydraulic components, complete hydrostatic mathematic model of SHHV in different driving mode is established. Finally, with the integration of mathematical model of SHHV and hydraulic anti-lock brake system, the energy saving efficiency of SHHV will be discussed. From the simulation results, the fuel consumption of SHHV is about 40 to 50 percent less than traditional vehicle, and about 60 to 80 percent of kinetic energy recovered during braking with hydraulic anti-lock brake system added.

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40

Yang, Jian-Jhe, and 楊健哲. "The study of Enhancement Anti-lock Braking System(ABS) Performance Improvement by using magnetic Force pulses." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/81616163803515434124.

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碩士
中華科技大學
電子工程研究所碩士班
102
The present paper is going to study a Motorcycle Anti-Lock Braking System(ABS) performance promotion using by the Matlab/Simulink formula simulation, and the magnet coil in the original analogous system to have the hit carrying on the adjustment to the original parameters, increases to the ground friction force. Simulates Accelerometer in this system the acceleration which produces in the different speed, again obtains the distance by the integration which the vehicle speed the change as well as brakes. In the simulation, both magnet coil and the Hydraulic brake action the chassis pitch parameters adjustment, take the speed 100 kilometers as the initial vehicle speed. When the vehicles start to slip, the system detects the Slip Ratio(SR) surpasses 0.2, Motorcycle Anti-Lock Braking System increase to brake the Hydraulic and the magnet coil does moves the increase to the strength to produce to the ground friction force. Which urge the vehicles to be able shortest to braking distance from as well as slides the difference control about 0.2, will achieve prevented will slip function. Then analyzes the best Slip Ratio which brake the shortest distance is away from the improvement.

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41

Chang, Ruey-Tzong, and 張瑞宗. "A study of Hydraulic Anti-lock Braking System of Personal Car Using Fuzzy PWM Control Method." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/63094781098179247175.

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碩士
國立成功大學
機械工程學系
88
ABSTRACT The objective of the study is to design a fuzzy controller for anti-lock braking system. Based on a commercial ABS module, a static test stand is built up. Pulse width modulation methodology is adopted here to convert the discrete on-off operation of high-speed solenoid valves into a quasi-continuous actuation. Braking pressure measured on the stand is fed back to the computer. The dynamics of emergency braking is simulated by the computation, which is based on the pressure signal and relative governing equations. Results of braking on the dry and the wet road surfaces and abrupt road surface changes, effects of various vehicle loads and variations caused by different actuating methods of the solenoid valves are studied here.

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42

CHEN, Che-Pin, and 陳哲斌. "Development of Vehicle Proportional Hydraulic Brake Actuator and Control of Anti-lock Braking System for the Motorcycle." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/e757ve.

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博士
國立臺灣大學
工程科學及海洋工程學研究所
106
In the motorcycle industry, the safety of motorcycles operating at high speeds has drawn increasing attention. If a motorcycle is equipped with an anti-lock braking system (ABS), it can automatically adjust the brake force to prevent the wheels from locking for achieving optimal braking effect and ensuring operation stability. In an ABS, the brake force is controlled by an electro-hydraulic brake (EHB). The control valve of EHB was fitted with a proportional pressure valve in this study, which differed from the general use of a solenoid valve in order to precisely control the brake force and prevent hydraulic pressure oscillation in the pipes. This research developed a novel proportional pressure control valve of hydraulic braking actuators for an automobile and a motorcycle. The simulation analysis of solenoid driving force of the pressure control valves is implemented, and the pressure relief capability test of electromagnetic thrust with the proportional valve body is verified. Considering the high controllability and ease of production, the solenooid of this proportional valve was designed with a small volume and higher driving force to adjust the braking pressure and flow. Next, this study used MATLAB/Simulink to develop the overall motorcycle ABS simulation model, including a proportional electro-hydraulic brake (PEHB), motorcycle motion, tire, and controller models of bang-bang, PID, and fuzzy sliding-mode. The simulation results showed that this actuator had achieved a stable adjustment of depressurization control as well as satisfactory linear precision and repeatability. Therefore, it can be applied to the ABS for slip control. Additionally, an overall motorcycle ABS simulation model was established and perfomed for simulation and analyse of the wheel speed, slip, and brake force of the EHB and PEHB on different road surfaces during braking. According to the simulation results, it was demonstrated that the PEHB canreach more satisfactory stability and response during braking for slip control and effectively reduce braking distance. Finally, the open-loop and Hardware in the Loop (HIL) testing of the PEHB system of motorcycle were performed. The open-loop test commands confirmed the response time, tracking performance and linearity. Subsequently, In the HIL testing, PID (Bang-Bang) and fuzzy sliding-mode controller were used for slip control test in PEHB. The test results demonstrated that the proportional pressure control valve can perform wellin EHB systemto make the ABS achieve more precise slip control and improve motorcycle safety.

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43

KAN, MING-KAI, and 甘銘凱. "Fuzzy Control of Anti-lock Braking System for Motorcycle Using Adaptive Parameter Estimator and Road Friction Identification." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/g873ax.

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44

Shu-AnChin and 金書安. "A Characteristic Regulable Axial Flux Permanent Magnet Brushless Machine Applied to Anti-lock Braking System for Electric Vehicles." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/02627162042014635704.

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45

Ku, Chun-Ming, and 辜俊明. "The Design of FlexRay/CAN Vehicle Communication Network with Anti-Lock Braking System based on X-by-Wire." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/rvu9tk.

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碩士
國立虎尾科技大學
資訊工程研究所
101
The rapid deployment of vehicle industry, vehicles are equipped with more sensors and electronic control units (ECU) than before and their numbers were increasing. In this view, the required transmission rate and quantity of data are going to rise relatively. This paper integrate new vehicle communication network of FlexRay with that nowadays mainstream network of CAN. We constructed FlexRay network that connected by hybrid topology to exploit Throttle-by-Wire、Steer-by-Wire、Brake-by-Wire nodes and then to implemented Drive-by-Wire control. We exploited dashboard and lamp control nodes and to design Gateway for communication with FlexRay and CAN. This study using CarSim combined with LabVIEW and interface cards to construct simulated test car for the active safety. To develop Anti-lock braking system (ABS) node based on FlexRay communication. The node could transmit state and data of ABS to FlexRay network immediately, that being monitored for real time by FlexRay monitoring node, and using FlexRay/CAN Gateway to convert to CAN network to show information on dashboard node. Furthermore, we developed ABS Monitoring App on Android phone using Bluetooth to transmit data which are each wheel speeds and brake pressures, that would be more convenient for user. In addition to develop CAN Network Monitoring App on Android embedded platform, user could get communication data on CAN bus more convenience by embedded platform for easy operation and high portability features.

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46

Chun-KueiHuang and 黃俊奎. "Design of a Hydraulic Anti-Lock Braking Modulator and Study of a Motorcycle Braking System on Straight Line and Turning a corner." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/13845589943756390089.

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47

Chen, Guan-Ming, and 陳冠銘. "Intelligent Control for Anti-Lock Braking Systems." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/78822970352886325135.

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碩士
輔仁大學
電子工程學系
91
In this thesis, three different controllers for the anti-lock braking system (ABS), including a sliding mode controller, a sliding mode-like fuzzy logic controller, and an observer-based direct adaptive fuzzy-neural controller, are proposed. The main control strategy is to force the wheel slip ratio tracking the variant optimal slip ratios, which may vary with the environment. In general, optimal slip ratios vary depending on different road surfaces, such as dry asphalt or icy road. Forcing the wheel slip ratio to track optimal slip ratios, which cause the maximal tire/road friction forces, can minimize the vehicle stopping distance. As a brake process, we assume that different optimal slip ratios are known during the vehicle-stopping period. The sliding mode controller for the anti-lock braking systems provides stable and reliable performance to track the variant optimal slip ratios. The sliding mode-like fuzzy logic controller performs as well as the sliding mode controller, and meanwhile smooth the control actions. Under the assumption that only the wheel slip ratio is measurable, the observer-based direct adaptive fuzzy-neural controller guarantees that all signals involved are bounded and the tracking of the optimal slip function, which varies with the environment during a vehicle-stopping process, is globally stable. Simulation results will show the validity and effectiveness of the proposed controllers. Keywords：anti-lock brake systems, wheel slip ratios, optimal slip ratios, sliding mode control, sliding mode-like fuzzy logic control, and observer-based direct adaptive fuzzy-neural control.

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48

Straitiff, Donald Graham. "Optimization of vehicle anti-lock braking systems via vehicle simulation." 1985. http://catalog.hathitrust.org/api/volumes/oclc/13244905.html.

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Thesis (M.S.)--University of Wisconsin--Madison, 1985.
Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 75-78).

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49

Li, Wei-Chen, and 黎韋辰. "Observer-based terminal sliding mode control of anti-lock braking systems." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/a8fs78.

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碩士
國立高雄科技大學
機械工程系
107
A procedure is the most important thing about ABS control to reduce the braking distance and prevent the vehicle from slipping, that is, to keep the vehicle with the maximum friction between the tire and the ground. The apparent friction is related to the positive force and the friction coefficient. What is the friction coefficient under control? According to many documents, the friction coefficient of the vehicle presents a nonlinear relationship with the slip, referred to as the μ-λ curve. This curve also shows the best control target, and the λ is controlled between 0.14 and 0.2. This paper will explore the importance of ABS for vehicles and design a terminal sliding model controller (TSMC) combined with an extended observer to estimate the state variables that cannot be measured and unknown external disturbances. Through computer simulation, it can be known that SMC has a considerable chattering effect on the braking system. TSMC not only retains the advantages of SMC's fast and robustness, but also greatly reduces the chattering phenomenon. It is known that the TSMC has a better control effect and the reaction speed is faster than one of the PID controller , and can effectively reduce the braking distance.

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50

Hsu, Shi-Bon, and 許旭邦. "Road Condition Estimation and Slip Ratio Control for Anti-Lock Braking Systems." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/31868156973870807466.

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碩士
輔仁大學
電子工程學系
93
Good braking performance should have two conditions: shorter stopping distance and good steering performance. The objective of an anti-lock braking system is to maximize the tire tractive force between road surface and wheel by controlling the braking piston pressure and to shorten the braking distance while maintaining adequate vehicle controllable and stability. In this thesis, for the unknown road conditions we design the road estimator that employ the dynamic friction model (LuGre Model) which described tire/road frict action behavior. We use the road estimator to identify the road conditions during the vehicle-stopping period. For the controller design, this thesis adopts sliding mode control theorem because of its well-know roboust for system uncertainty. In addition, in order to reduce the chattering problem caused by the sliding mode controller. The controller is modified to have a boundary layer, whose control signal varies smoothly inside the boundary layer. Our main control strategy is using the Anti-Lock Braking system’s controller to control the vehicle’s slip ratios track the variant optimal slip ratios, which obtained by road estimator. Simulation results will show the validity and effectiveness of the proposed methods.

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