Title: Modular design and testing for anti-lock brake actuation and control using a scaled vehicle system

Authors: Chinmaya B. Patil, Raul G. Longoria

Addresses: Mechanical Engineering Department, The University of Texas at Austin, University Station, C2200, Austin, Texas 78712-0292, USA. ' Mechanical Engineering Department, The University of Texas at Austin, University Station, C2200, Austin, Texas 78712-0292, USA

Abstract: A unique decoupling feature in frictional disk brake mechanisms, derived through kinematic analysis, enables modularised design of an Anti-lock Braking System (ABS) into a sliding mode system that specifies reference brake torque and a tracking brake actuator controller. Modelling of brake actuation, vehicle dynamics, and control design are described for a scaled vehicle system. The overall control scheme is evaluated by hardware-in-the loop testing of the electromechanical brake system, and experimental results for two braking scenarios illustrate the benefits of the modular control design scheme and its impact on practical hardware-in-the-loop implementation.

Keywords: anti-lock braking; ABS; hardware-in-the-loop; brake actuation; scaled vehicle systems; braking control; vehicle braking; testing; frictional disk brake mechanisms; kinematic analysis; modular design; sliding mode control; reference brake torque; vehicle dynamics; control design.

DOI: 10.1504/IJVSMT.2007.017122

International Journal of Vehicle Systems Modelling and Testing, 2007 Vol.2 No.4, pp.411 - 427

Published online: 14 Feb 2008 *

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