By Guide
HIMANSHU KUMAR SATISH SINGH
U.ROLL.NO.-1605640037 (Assistant Prof.)
Wheel lockup during braking causes skidding
which in turn cause a loss of traction and
vehicle control
This reduces the steering ability to change
direction. So the car slides out of control
With ABS system, the driver can brake hard,
take the evasive action and still be in control
of the vehicle in any road condition at any
speed and under any load.
•To reduce stopping distance
The road surface type and conditions can be
inferred from the vehicle's braking pressure,
wheel slip measurements, and deceleration
rate comparisons.
The wheel slip is regulated so that the road
adhesion coefficient is maximized. By keeping
all of the wheels of a vehicle near the
maximum friction coefficient, an antilock
system can attain maximum fictional force
In turn, this strategy leads to the minimization
of the vehicle stopping distance.
• Stability
A locked-up wheel generates a reduced
braking force, smaller than the peak value of
the available adhesion between tires and
road. A locked-up wheel will also lose its
capability to sustain any lateral force. This
may result in the loss of vehicle stability.
The basic purpose of a conventional ABS
system is thus to prevent any wheel from
locking and to keep the longitudinal slip in an
operational range by cycling the braking
pressure.
•Steerability
Good peak frictional force control is
necessary in order to achieve satisfactory
lateral forces and, therefore, satisfactory
steer-ability.
If an obstacle appears without warning,
emergency braking may not be sufficient.
When the wheels are locked, car no longer
respond to the driver’s steering intention.
With ABS car remains steerable even during
emergency braking, and thus the obstacle can
be safely avoided
A skidding wheel (where the tire contact
patch is sliding relative to the road) has less
traction than a non-skidding wheel
By keeping the wheels from skidding while
you slow down, anti-lock brakes benefit you
in two ways:
You'll stop faster, and you'll be able to steer
while you stop
A simple braking system
consists of a master
cylinder, and four wheel
cylinders
When the brake pedal is
pressed the piston in the
master cylinder forces the
liquid out of the cylinder.
This liquid presses the
two pistons in the wheel
cylinders outwards. These
two pistons push the
brake shoes out words.
When the pedal is pressed
the primary piston moves
to the left .
when it crosses the bypass
port the liquid is forced
along the pipe lines to the
wheel cylinders.
When the pedal is released
the primary piston is
moved back wards .it is the
spring, which pushes the
piston back wards
The skidding and lack of
control was caused by
the locking of wheels.
The release and reapply
of the brake pedal will
avoid the locking of the
wheels which in turn
avoid the skidding.
This is exactly what an
antilock braking system
does.
If a wheel-speed sensor signals a lock up - the ECU
sends a current to the hydraulic unit. This
energizes the solenoid valve. The action of the
valve isolates the brake circuit from the master
cylinder. This stops the braking pressure at that
wheel from rising, and keeps it constant. It allows
wheel velocity to increase and slip to decrease.
When the velocity increases, ECU re-applies the
brake pressure to restrict the wheel slip to a
particular value.
Hydraulic control unit controls the brake pressure
in each wheel cylinder based on the inputs from
the system sensor. This in result controls the wheel
speed.
Assumption: Only a linear model was
considered and does not include actual road
conditions. The system here is modelled only
for straight line braking.
When the brake pedal is pumped or pulsed the
pressure is quickly applied and released at the
wheels. This is called pressure modulation.
Pressure modulation works to prevent the wheel
locking.
ABS can modulate the pressure to the brake as
often as 15 times per seconds
ABS precisely controls the slip rate of the wheels
to ensure maximum grip force from the tyre and
it there by ensures maneuverability and stability
of the vehicle
During ABS operation,
the target slip rate can
be from 10 to 30%.
0% slip means the
wheel is rolling freely,
while 100 % means the
wheel is fully locked.
A slip rate of 25 %
means the velocity of a
wheel is 25 % less than
that of a freely rolling
wheel at the same
vehicle speed
Hydraulic components
1. Accumulator
An accumulator is used to store hydraulic fluid to
maintain high pressure in the brake system and
provide the residual pressure for power assisted
braking
2. Antilock hydraulic control valve assembly
This assembly controls the release and application
of the brake system pressure to the wheel brake
assemblies .
It may be of integral type and non integral type
3. Booster pump
The booster pump is an assembly of an electric motor
and pump. The booster pump is used to provide
pressurized hydraulic fluid ABS
4. Booster/Master cylinder assembly
It is referred as the hydraulic unit, contains the valves
and pistons needed to modulate hydraulic pressure in
the wheel circuit during the ABS operations
5. Fluid accumulator
accumulator temporarily stored brake fluid that is
removed from the wheel brake unit during ABS cycle.
This fluid is then used by pump to build pressure for
the brake hydraulic system.
This assembly contains solenoid valve, fluid accumulator,
pump and electric motor. The unit may have one pump and
one motor or it have one motor and two pumps.
7. Main Valve
This is a two position valve and is also controlled by ABS
control module and is open only in the ABS mode.
8. Modulator unit
The modulator unit controls the flow of pressurized brake
fluid to the individual wheel circuits. Normally the modulator
is made up of solenoid that open and close valves
9. Solenoid valves
The solenoid valves are located in the modulator unit and are
electrically operated by signals from the control module
Four channel, four sensor ABS
This is the best scheme. there is speed sensor on all four
wheels and a separate valve for all the four wheels.
Three channel , three sensor ABS
This scheme is commonly found on pick up trucks with four
wheels ABS, has a speed sensor and a valve for each of the
front wheels, with one valve and one sensor for both rear
wheels.
• One channel , one sensor ABS
it has one valve ,which controls both rear wheels , and one
speed sensor, located in the rear axle .
The hydraulic circuit for this type of system is
an independent four channel type. One for
each wheel. The hydraulic control unit is a
separate unit
The system prevents wheel lock up during an
emergency stop by modulating brake
pressure
AUTOMATIC TRACTION CONTROL
(ATC)
AUTOMATIC STABILITY CONTROL
Automatic traction control
systems apply the brakes
when a drive wheel attempts
to spin and lose traction.
The system works best when
one drive wheel is working
on a good traction surface
and the other is not.
The system also works well
when the vehicle is
accelerating on slippery road
surfaces, especially when
climbing hills.
Stability control systems
momentarily apply the
brakes at any one wheel
to correct over steer or
under steer.
The control unit receives
signals from the typical
sensors plus a yaw,
lateral acceleration (G-
force) and a steering
angle sensor
It allows the driver to maintain directional stability
and control over steering during braking
Safe and effective
Automatically changes the brake fluid pressure at
each wheel to maintain optimum brake
performance.
ABS absorbs the unwanted turbulence shock waves
and modulates the pulses thus permitting the
wheel to continue turning under maximum braking
pressure.
It is very costly
Maintenance cost of a car equipped with ABS
is more.
Statistics show that approximately 40 % of
automobile accidents are due to skidding.
These problems commonly occur on vehicle
with conventional brake system which can be
avoided by adding devices called ABS
If there is an ABS failure, the system will
revert to normal brake operation. Normally
the ABS warning light will turn on and let the
driver know there is a fault
Tianku Fu,“Modelling and performance
analysis of ABS system with non-linear
control”, 2000.
Tobias Eriksson,“Co-simulation of full vehicle
model in Adams and anti-lock brake system
model in Simulink”, 2014.
