Documente Academic
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Documente Cultură
byFrankOwen,PhD,P.E.,MechanicalEngineering/Fakultt03,
CalPoly/HochschuleMnchen
(revised13July2012)
Inthissegmentofthecourseweshalllookatmodelingacommonmechatronicsysteminan
automobile,theantilockbrakingsystemorABS.Youhavealreadyseenthisinaprevious
developmentinthiscourse.Inthatsegmentyoumodeledthecarundergoingbrakingandthe
ABSsysteminMatlab.HerewewilldosomethingsimilarexceptwewilluseSimulinktodoit.
ThemainproblemaddressedbyanABSsystemisthereducedbrakingforcethatoccurswhena
carswheelssliponthepavement.Thebrakingforceduringslipreducestoabouthalftheirnon
slipvalue.ThepurposeoftheABSistodetectslip,thenmomentarilyreducethebrakingforce
topreventtheslip.DriversofcarswithoutABSincold,icyclimateswerealwaystrainedto
brakebypumpingthebrakes.Thismeantnevertopushhardandsteadilyonthebrakepedal
butrathertotapthebrakes,toapplyahighfrequency,drumbeatsortofforcetothebrake
pedal.
ThisisessentiallywhattheABSsystemdoes.Whenslipisdetectedthroughsensors,valvesare
actuatedtoreleasethepressureonthebrakepads,thusmomentarilyallowthewheeltoroll
outofslip.Onceoutofslip,thevalvesacttoallowthebuildupofpressureonceagainonthe
brakepads.
Inthissegmentwewilllookonceagainatautomobilebrakingandmodelthissituationinan
automobilewithandwithoutABS.
TheAnalysis
InouranalysisthecarismovingtotherightwithavelocityvC.Thebrakingforcesonthewheels
acttothelefttoslowthecardown.
vC
F BR F BF
F NR F NF
Wewillsimplifytheanalysisbylookingatonlyonewheel,usingwhatisoftencalledthequarter
carmodelofthecar.Hereweconcentratetheentiremassofthequartercaratthehubofthe
wheel.
1
vC
FBD = MAD
m QC g
..
JW .
O
F C-W rW =
M B-Q mQC a C
F B-Q
F N-Q
Fromadynamicequilibriumanalysisofthiswheel,summingmomentsaboutpointO,thecenter
ofthewheel,takingclockwisetobepositive:
M O : FB Q rW M B Q J W (1)
Themaximumpossiblebrakingforcedependsontheslip,specificallyontheslipparameters.s
isameasurementoftheactualvelocityofthecarcomparedwiththekinematicallycalculated
velocityiftherewerenoslip ( vC W rR ).
v C-
rW
vC vC vC rW
s (2)
vC vC
s varies between 0 (no slip) and 1 (full slip). From the slip can be calculated the slip
parameter f(s). A suggested relationship for f(s) is
f ( s ) c1 (1 e c2 s ) c3 s (3)
Thethreeparametersc1,c2,andc3canbeadjustedtomatchtestdatatakenontheactual
automobile.Forthesituationpresentedearlierinthecourse,wecanusethefollowingvalues:
2
Braking parameter vs. slip
1
0.9
0.8
0.7
0.6
c1 = 1.3
f(s)
0.5 c2 = 10
c3 = 0.8
0.4
0.3
0.2
0.1
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
s
f(s)isthenusedtofindthebrakingforce:
FB Q f ( s) FN Q (4)
Wenowexpandthequartercarmodelandjustsaythatwhathappenswiththeentirecarisjust
4xbywhathappensoneachwheel.Ifwelookattheentirecar,weseethatwehaveinthex
direction:
FBD MAD
m C . aC
X
FA
FB
whereFBisthetotalbrakingforceandFAiswindresistance.Wecansimplifytheanalysisto
assumethatFBisjust4*FBQ.Thisisnotreallycorrectbecausethefrontwheelscarrymoreof
thebrakingloadduetothepitchingmovementofthecarduringbraking.Thisloadsthefront
wheelsandunloadsthebackwheels,butforthissimpleanalysis,wecanproceedwiththisasan
initialapproach.So
3
FB FA mC aC
(5)
aC xC
1
FB FA
mC
UsuallyFAvariesasthesquareofthevelocity:
FA c A A vC2 (6)
2
So
1 2
xC f ( s ) FN c A x C (7)
mC 2
Aspreviouslymentioned,whenthebrakesareapplied,thecarpitchesforward,loadingupthe
frontwheels.Thusthefrontwheelscarrymoreverticalforcethanthenormalweightofthecar.
Thisallowsforagreaterbrakingforcethanwouldbepossibleifthefrontwheelssawonlytheir
shareoftheweightofthecar.Wecanaccountforthisextraforcebyusingamultiplier,say1.5,
multipliedbyFN.So
FN 1.5 * mg (8)
Usethefollowingvaluesforthesimulation:
Youmightwanttoloadthesevariablesuponcefromanmfilenamed initialize.m.
Therearetwodifferentialequationsherethatrepresentequationsofmotion,oneforthewheel
(1)andoneforthecar(7).Ifyoulookthroughtheequationsyouwillseethatthereappearsin
themonlyvCand i.e.xCanddonotappear.Nevertheless,wemightbeinterestedinhow
longthecarbrakes/skidsduringthebrakingprocess.SowewillalsoextractxCfromthe
Simulinkmodel.
4
Westart,asnormalwiththeintegrationbackbones,thelineofintegralsthatproducevelocity
anddisplacementfromacceleration.Producethemodelsforequations1and7.
Withf(s)youcancalculateFB,usingequations(4)and(8).FBwillbethetotalbrakingforce.To
getFBQyousimplydividethisby4foruseinthepartialmodeldevelopedforequation(1).
Additionallywewanttostopthesimulationwhenthespeedgetsverylow.Butwewanttostop
itbeforethecarspeedgetsto0toavoidadivisionby0inequation(2).Youcandothisby
checkingthevalueofthevelocityandstoppingthesimulationifitdropsbelow0.01m/sec.
Setthemodeluptoviewthetwovelocities,vCandvC ononescope.Alsolookattheslip.Look
atthebrakingforceonascope.Lookatthedistancetraveledonascopetoo.
ChecktheModel
AsthemodelissetuponanonABScar,weapplyasteadypedalpressuretoproduceMB(MB=
4MBQ)Letstrythedonothingcasefirst,wherethedriversdoesnotpushonthebrakes.What
happens?Whatshouldthevelocitydo?Whatshouldtheslipbe?
Nowapplyalightbrakingload,say2000Nm.Thecarshouldslowsteadilydownwithout
slipping.
Nowapplyaheavybrakingload,say8000.Youshouldseesomeslip.
Whatisthedifferencebetweenthedistancetostopwithandwithoutslipintheabovetwo
cases?
CanyoufindtheoptimalMB,sothatthecarhasmaximumstoppingpowerwithoutexcessive
slip?Thisshouldcorrespondtotheshortestdistancetostop.Forwhatslipvalueisthestopping
powergreatest?Throughtrialanderror,findthecorrectbrakingtogivetheshorteststopping
distance.
CarwithABS
Fromthediagramonpage3wecanseethatthemaximumbrakingcoefficientoccurswithaslip
ofabout0.28.Notethatthisparameterisavailabletousasmodelers,sincewecalculatesas
partofthesimulation.Thuswecansetupacontrollertoreactifsdeviatesfromadesiredvalue
of0.28.Wewilluseasimpleoff/oncontrollerforthis.Iftheslipisbelow0.28,wewantto
applythebrakingmoment.Iftheslipisabove0.28,wewanttoreleasethebrakes.
Toimplementthis,formacomparisonbetweentheactualsandthedesireds,sd=0.28.Ifsds
<0,removethebrakingmoment.Ifsds>0,applythefullbrakingmoment.Youcan
implementthiswithasignblock.Lookatthisblockandseehowitworks.Followthesignblock
withagainblocktoprovidetheproperchangeinbrakingmoment,saydMB/dt=20,000N
m/sec.Thenuseanintegrator,limitedtopositivevaluestogetMB.
5
Itisinterestingnowtoplotvcandvc together.Plotalsotheslipasafunctionoftimeandthen
thecarspositionasafunctionoftime.Trythisoutwithvariouscoefficientsoffrictions ( =1
fordrypavement, =0.6 forwetpavement, =0.3foricypavement,etc.).