Research On Vehicle ABS Equipped With EMB System Based On Slip Ratio Control

Due to its merits,such as simple structure,safe,reliable and integrated easily with other electronic control modules,electromechanical braking(EMB)system has become a popular research direction in the field of automotive brake.Anti-lock braking system(ABS)is a key technology to improve vehicle braking safety performance,and researching on its control algorithms is an important way to improve the vehicle braking performance.This paper has done a research on vehicle ABS equipped with EMB system based on sliding mode control and parameter self-tuning fuzzy PID control.The main ideals are shown as follows:(1)Based on current patents,this paper proposes a new type of electromechanical braking device,designs a prototype and has applied for a patent,and then builds its dynamic simulation model.(2)Because vehicle EMB system mainly consists of four same EMB mechanical actuators installed on four wheels,the paper builds the 1/2 vehicle model equipped with EMB system,considering the impact of the axial force transfer during braking process.(3)This article has designed two ABS controllers for the vehicle equipped with EMB system based on slip ratio,which are respectively sliding mode variable controller and parameter self-tuning fuzzy PID controller.Considering four same EMB mechanical actuators installed on four wheels and the impact of axial load transfer during braking process,this paper will firstly design the controllers respectively for front and rear wheels on one side of the vehicle.Then,slightly modifying controllers will be applied into whole vehicle.(4)This article builds a vehicle simulation model in the vehicle dynamics simulation software CarSim and control simulation model in Simulink.By connecting the input and output variables of CarSim and Simulink,a co-simulation is done,in order to compare the braking performance of the controllers designed for the vehicle equipped with EMB system.According to the simulation results,the control algorithm has been improved constantly.The simulation results can conclude that sliding mode control is more suitable than other algorithms in the vehicle equipped with EMB system.