Title: Modelling and PID control of antilock braking system with wheel slip reduction to improve braking performance

Authors: Vimal Rau Aparow; Fauzi Ahmad; Khisbullah Hudha; Hishamuddin Jamaluddin

Addresses: Smart Material and Automotive Control (SMAC) Group, Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka, 76109 Durian Tunggal, Melaka, Malaysia ' Smart Material and Automotive Control (SMAC) Group, Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka, 76109 Durian Tunggal, Melaka, Malaysia; Malaysia-Japan International Institute of Technology (MJIIT), University Teknologi Malaysia Kuala Lumpur, Jalan Semarak, 54100 Kuala Lumpur, Malaysia ' Department of Mechanical Engineering, Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia ' Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia

Abstract: This paper presents the development of a PID controller for an Antilock Braking System (ABS) using vehicle longitudinal model. A Five Degree of Freedom (5-DOF) vehicle longitudinal dynamic model was derived and integrated with an analytical tyre dynamics, the Magic Tyre model. Several transient handling tests are performed such as sudden acceleration and sudden braking test to validate the vehicle model. The model is used as a plant to develop an antilock braking system to control longitudinal slip and reduce the stopping distance. A hydraulic brake model was developed as the brake actuator to produce brake torque. A conventional PID controller has been implemented to deal with the strong nonlinearity in the design of ABS controller. The proposed ABS control structure is shown able to significantly reduce stopping distance and control the longitudinal slip during heavy braking.

Keywords: antilock braking system; ABS control; vehicle longitudinal model; outer loop control; inner loop control; PID controller; dynamic modelling; vehicle control; wheel slip reduction; braking performance; tyre dynamics; hydraulic brakes; stopping distance; vehicle safety.

DOI: 10.1504/IJVS.2013.055025

International Journal of Vehicle Safety, 2013 Vol.6 No.3, pp.265 - 296

Received: 19 Sep 2012
Accepted: 16 Jan 2013
Published online: 30 Sep 2014 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article