Advanced Systems

Anti Skid Braking

Anti skid braking module throws a light on terminologies in braking system and
guides you step by step to understand and construct torque modulation in Anti-
lock braking systems(ABS) along with an insight to regenerative braking system
in electric vehicle.

Anti Skid Braking | Introduction

We all know that when the brake pedal is pressed towards the floor the
car slows and eventually stops. There are different types of brakes given
how the braking action is achieved. During emergency situations the
brake pedal is thrust completely to force complete stop of the vehicle but
given the velocity of the vehicle at that instant, the vehicle gradually
stops with complete brake torque applied on wheels. This situation leads
to a case where the wheels of the vehicle slip.
In this module we would focus on why this would be a problem and on
how to modulate the brake torque in Anti-lock Braking system, also
denoted as ABS, along with an insight to how regenerative braking is
defined in EV Module.

ABS
The theory behind anti-lock brakes, is that a skidding wheel (where the
tire contact patch is sliding relative to the road) has less traction than a
non-skidding wheel.
It is same as when driving on ice, it can be observed that the wheels are
spinning and have no traction. This is because the contact patch is sliding
relative to the ice.
By keeping the wheels from skidding while you slow down, anti-lock
brakes benefit in two ways:
——• stop faster
——• ability to steer while you stop.
This Module focuses on,
1. Slip control
2. Modulating brake torque accordingly.

Anti-Skid Braking | Building the Model – Loading the model

parameters

This section gives the model parameters that has to be loaded before
simulating and testing the ABS module.
Figure 1: Script file for vehicle parameters

Now let us create data that is used through Lookup Tables.

Step 1]
Right click on Workspace Tab in MATLAB and select New to create data for
Lookup Tables.

Figure 2:
Adding data, Step 1

Step 2]
Name them and double click on it to add data.
 Figure 3: Adding data, Step 2

Step 3]
Right click on the variable name and click on Save As to save the data.

Figure 4: Adding data, Step 3

The data to be added along with their names are given below.
mu

Figure 5: mu data
slip

Figure 6: slip data

Building the Model – Building of ABS Model

Now let us move to modelling the Angular speed of vehicle module, which
would focus on calculating the value of angular velocity of wheel.

Step 1]

Create a Sum block connect a Constant block (name the Constant block as
Brake torque and its Constant value is Brake_torque_max) to the negative
sign of the Sum Block. The positive sign is for connecting it to the signal
carrying torque of the tire. The signals are named ‘brake torque’ and ‘tire
torque’ respectively.

Figure 7:Angular speed of wheel, step1

The difference of torque of the tire, due to existing road load, and brake
torque constitute to the net torque felt by tire.

Step 2]

Connect a Gain block with gain value of ‘1/J’, where ‘J’ represents the
value of moment of inertia of the tire.

Figure 8:Angular speed of wheel, step2

Net torque of the tire divided by its Moment of Inertia gives its angular
acceleration.
Step 3]

Connect an Integrator Limited block, wherein the upper limit of the

integrator is V/R. The signals ‘Ww’ (angular velocity of the wheel) and ‘tire
torque’ are connected to a Goto block (Goto tag: Ww) and From block
(Goto tag: tire_torque) respectively.

Figure 9:Angular speed of wheel, step3

Integral of angular acceleration gives angular velocity.

Step 4]

This sub-module helps in calculating angular speed of wheel.

Figure 10:Angular speed of wheel

Now let us move to modelling the Angular speed of vehicle module, which
would focus on calculating the value of V/R, where V denotes
instantaneous velocity of the vehicle.
Step 5]

Create a From block, with a Goto tag as FN. Connect the same to a Gain
block, with gain value ‘R’.

Figure 11:Angular speed of vehicle, step1

The ‘FN’ block here represents Net force on a tire. Implies, that
multiplying with the radius of tire gives us tire torque.

Step 6]

Connect the signal carrying tire torque to a Goto block, with Goto tag
assigned as ‘tire_torque’. Connect a Gain block of gain value -1/m, we get
the acceleration of the vehicle.

Figure 12:Angular speed of vehicle, step2

Force on the tire is reaction force exerted by the ground on the tire, which
is,

Step 7]

Connect an Integrator block to the signal carrying vehicle acceleration, we

get velocity of the vehicle.
Figure 13:Angular speed of vehicle, step3

Step 8]

Connect a Gain block to the signal carrying velocity of the vehicle, with a
gain value of 1/R, we get angular velocity equivalent of the vehicle, Wv.
Connect the signal Wv to a Goto block, with Goto tag as Wv.

Figure 14:Angular speed of vehicle, step4

Step 9]

Double click on the Integrator block and give the Initial condition as V,
Check the Limit output checkbox and input the lower saturation limit as
zero and check the check box assigned for ‘Show saturation port’.
Connect a STOP simulation block to the port newly created.
Figure 15: Angular speed of vehicle, step5

The Stop simulation block ensures that once the vehicle comes to
complete rest, meaning slip becomes 1 as per our code, to stop the
simulation.

Step 10]
This sub-module helps in calculating angular speed of vehicle.

Figure 16:Angular speed of vehicle

Now let us move to modelling the Longitudinal Slip module, which would
focus on calculating the value of Longitudinal Slip.

Step 11]

Connect two From blocks (of Goto tags ‘Ww’ and ‘Wv’) to a MATLAB
Function block. The output of the function block would be Longitudinal
slip, which is being connected to a Goto block of Goto tag ‘slip’.

Figure 17: Longitudinal Slip

Step 12]

On double clicking the MATLAB Function block open the Editor and input
the following code.
Figure 18: Longitudinal Slip, Code snippet

Longitudinal slip is defined as,

The code above has taken u1, u2 as its inputs wherein

So the code written models the calculation of longitudinal slip based on

the scenarios mentioned above. The code additionally takes into account
when the vehicle reaches a stop or when ‘w = 0 or v = 0’ the slip tends to
1 instead of ∞ as eps (epsilon, a negligible positive value) is introduced.

Now let us move to modelling the Force module, which would focus on
calculating the magnitude of force acting on a tire.

Step 13]

The graph below is plot of µ versus longitudinal slip.

Figure 19: µ versus slip graph

The above data is stored and utilized in the form of a 1-D table.

Step 14]

Create a From block (with Goto tag: slip) and connect it to the 1-D table
containing the corelated data of µ and slip, by giving an input mu as its
Table data and slip as its input for Breakpoints 1, click Ok.
Figure 20: Force Module, step1

We get value of µ on inputting the value of slip that was calculated in the
above sub-module of Longitudinal Slip.

Step 15] Connect the signal carrying value of µ to a Gain block of gain
value (m*g)/4. Name its output signal as FN, denoting magnitude of force
acting on a tire.
Figure 21: Force Module, step2

We get the magnitude of force acting on a tire as

Step 16]

Connect the signal carrying FN, magnitude of force acting 24on a tire, to a
Goto block, with goto tag: FN. This sub-module helps in calculating the
magnitude of Force acting on a tire.

Figure 22: Force Module

Now let us move to modelling the Controller module, which would focus
on controlling the Longitudinal slip value at 0.2

Step 17]

Create a Constant block of constant value 0.2 and connect it to the

positive terminal of a Sum block. Connect the slip that was calculated in
the sub-module Longitudinal Slip as a From block (Goto tag: slip).
Figure 23: Controller Module, step1

The output of the above operation results with the error.

Step 18]

Connect the error observed to a PID Controller block and the ouput signal
of the same to a Goto block of Goto tag: PID.

Figure 24: Controller Module, step2

Step 19]

This sub-module helps in obtaining the controller signal that would help us
modulate the observed slip value within the range of a desired slip value.

Figure 25: Controller Module

Now let us interlink the Controller module with the Angular speed of wheel
module.

Step 20]

Change the sub-module Angular speed of wheel, remove the Constant

block representing maximum brake torque and place a Gain block of gain
value as Brake_torque_max. Connect a From block (Goto tag: PID) as the
input of the newly created Gain block and connect its output, brake
torque, to the negative terminal of Sum block.

Figure 26:Angular speed of wheel

All Models at a Glance

Now let us additionally model Angular speed of wheel module to calculate
Stopping distance.

Step 21]

Create an Integrator block and a Scope block in the Angular speed of

wheel module.

Figure 28: Modelling for Stopping distance, Step 1

Step 22]

Connect the velocity signal as input to the newly created Integrator block
and connect its output signal, name it as stopping distance, to the newly
created Scope block.
Figure 29: Modelling for Stopping distance