Vehicle Technology
MAK 461E
Lecture 5c – ABS Æ ASR Æ EBD Æ ESPÆ
Instructor: Dr. Özgen Akalın
Assistant Professor of Mechanical Engineering
Dr. Ozgen AKALIN
1
Dry μP= 0.8……1
Wet μP= 0.2….0.65
Icy μP= 0.05…0.1
Dr. Ozgen AKALIN
ABS (Anti-lock Braking System) (Antiblockiersystem)
¾ These systems monitor operating conditions
and modify the applied braking torque by
modulating the brake pressure.
¾ The systems try to keep tire operating within
a desired range of “skid”, and by preventing
wheel lock-up during braking they can help
retain steerability and stability
¾ Anti-lock braking systems are closed loop
control systems within the braking system.
Dr. Ozgen AKALIN
2
ABS Requirements
¾ Maintain steering response at all times,
regardless of road conditions
¾ Adapt to and exploit available friction to
maximum effect, but put emphasis on stability
and steering rather than stopping distance,
independent of how driver applies pedal force
¾ Effective over large speed range
¾ Control yaw effect in µ- split conditions
¾ Self-diagnostics
Dr. Ozgen AKALIN
Control parameters
¾ Wheel-speed sensors must be used to find
¾wheel peripheral deceleration/acceleration
¾brake slip
¾reference speed and vehicle deceleration
¾ It is not practical to use wheel acceleration or
¾deceleration or the slip as the controlled
variable.
¾ How can this information be used?
Dr. Ozgen AKALIN
3
Prediction of reference speed
¾ Since vehicle speed can not be measured directly, the
ECU must estimate an appropriate value.
¾ The Bosch ABS system, for example, uses
information from “diagonal” wheels, and bases an
estimate on information obtained during non-ABS
usage.
¾ Under moderate braking, the ECU will estimate
reference speed based on the diagonal wheel that is
turning the fastest.
¾ During panic stops, a ramp-shaped extrapolation of
the speed collected at the start of the cycle is used to
calculate the reference speed.
Dr. Ozgen AKALIN
Prediction of lock-up
Anti-locking may be initiated when the product of angular
acceleration of the tire and its rolling radius exceeds a
predetermined value (e.g., 1 to 1.6 g).
Passenger car ABS may have a track-and-hold circuit that
stores any wheel acceleration values of 1.6 g and higher.
If the measured angular speed drops 5% during a
predetermined time (e.g., 140 ms), and if the vehicle
acceleration as measured by an accelerometer is not
higher than, say, 0.5 g, then the tire is considered to be
at the point of locking, and the brake is released when
angular speed decreases by 15% of stored value.
If the vehicle deceleration is greater than 0.5 g, locking is
predicted and brake is released when angular speed
decreases by 15% of stored value.
Dr. Ozgen AKALIN
4
Reapplying brake pressure
¾ As soon as none of the conditions discussed for
‘decreasing’ pressure at the brake are met, reapply
the brake.
¾ Use some hysteresis; that is, wait a fixed amount of
time before reapplying pressure.
¾ In some systems, the brake is reapplied as soon as
the product of the angular acceleration of the tire
and the rolling radius exceeds a predetermined value.
Some typical values are 2.2 to 3 g, and sometimes
the ‘build-up’ rate may depend on actual value of
acceleration.
Dr. Ozgen AKALIN
ABS Control ranges
1) DRY, 2) WET, 3) SNOW, 4) ICY
ABS Control ranges
Dr. Ozgen AKALIN
5
ABS Closed control loop
1) Hydraulic modulator with solenoid valves
2) Brake master cylinder
3) Brake cylinder
4) ECU
5) Wheel speed sensor
Dr. Ozgen AKALIN
Dr. Ozgen AKALIN
6
Dr. Ozgen AKALIN
Dr. Ozgen AKALIN
7
μ-split
DRY ICY
Yaw moment build up for greatly differing
friction coefficients
Dr. Ozgen AKALIN
Electronic Stability Program (ESP)
Dr. Ozgen AKALIN
8
Dr. Ozgen AKALIN
Curve braking with and without GMA
Yaw moment build-up delay system
1) Master cylinder pressure 1) GMA switched on (oversteer)
2) Brake pressure without GMA 2) GMA switched off (understeer)
3) with GMA 1
4) with GMA 2
5) low
6) Steering angle with GMA
7) Steering angle without GMA
Dr. Ozgen AKALIN
9
Braking control for 4WD
Dr. Ozgen AKALIN
Car with ABS 2S
1) Wheel-speed sensor, 2) Wheel brake cylinder, 3) Hydraulic modulator, 4) Master cylinder, 5) ECU, 6) Safety lamp
Dr. Ozgen AKALIN
10
Car with ABS 3S
1) Wheel-speed sensor, 2) Wheel brake cylinder, 3) Hydraulic modulator with Master cylinder, 4) ECU, 5) Safety lamp
Dr. Ozgen AKALIN
Test circuit
Dr. Ozgen AKALIN
11
Traction control ASR
(Anti Skid Regulation) (Anti Schlupf Regelung)
The primary functions of a traction control system:
¾ to improve traction on asymmetrical road surface
with different values of coefficient of road adhesion
for the left and right-hand-side (μ-split).
¾ to prevent the tire from spinning during acceleration
or on slippery surfaces, and ideally to keep the slip
of the tire within a desired range so as to retain an
adequate cornering force for direction control and
stability
Dr. Ozgen AKALIN
Traction control ASR
Dr. Ozgen AKALIN
12
ABS + ASR with intervention
Dr. Ozgen AKALIN
Dr. Ozgen AKALIN
13
Dr. Ozgen AKALIN
Dr. Ozgen AKALIN
14
Dr. Ozgen AKALIN
Dr. Ozgen AKALIN
15
Dr. Ozgen AKALIN
16
