Title: Conjugate boundary method for control law design of anti-skid brake systems

Authors: E.C. Yeh, C.-Y. Kuo, P.-L. Sun

Addresses: Associate Professor, Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30043, Taiwan. ' Graduate Student, Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30043, Taiwan. ' Graduate Student, Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30043, Taiwan

Abstract: In this study, a new approach named as conjugate boundary method is presented to design the control law of anti-skid brake systems (ABS). Through phase plane analysis, the nonlinear dynamics of ABS are investigated by using a piecewise linear tyre force model. The new concepts of equilibrium brake torque and conjugate boundaries are introduced to analyse the existence and stability of limit cycles, and the global slip tendency in ABS dynamics. Finally, some selected criteria from Guntur and Ouwerkerk|s studies are analysed. From the analysis and simulation results, the rules for designing the threshold values for these criteria are suggested and the evaluation of these criteria are also given.

Keywords: anti-lock braking systems; ABS; anti-skid brake systems; conjugate boundary method; prediction condition; reselection condition; nonlinear dynamics; tyre force modelling; equilibrium brake torque; simulation; vehicle design.

DOI: 10.1504/IJVD.1990.061606

International Journal of Vehicle Design, 1990 Vol.11 No.1, pp.40 - 62

Published online: 26 May 2014 *

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