| Summary: | 碩士 === 國立暨南國際大學 === 電機工程學系 === 92 === This thesis develops a nonlinear anti-lock braking system combined with active suspensions
applied to a quarter-car model by employing nonlinear and adaptive backstepping
design schemes. In driving emergency, a driver always reacts to exert great
efforts to step on the brake pedal in order to stop the car immediately. If the braking
torque is large enough to lock wheels, then the vehicle may solely slide on the road
surface and must need more braking time and distance to stop. An anti-lock braking
system is able to release the wheel-locking situation and assist the car to stop at
shorter distance. Although the braking distance can be reduced by the control torque
from disk/drum brakes, the braking time and distance can be further improved if the
normal force generated from active suspension systems is considered simultaneously.
Individual controller is designed for each subsystem and an integrated algorithm is
constructed to coordinate these two subsystems. As a result, the integration of antilock
braking and active suspension systems indeed enhances the system performance
because of reduction of braking time and distance. In addition, variation of road
conditions is usually known while driving a car. Hence, a nonlinear adaptive backstepping
control scheme is employed for the design of our anti-lock braking system to
guarantee that our controller has the ability to adapt for various road surfaces. Finally,
some comparative simulations are given to illustrate the excellent performance
of our integrated anti-lock braking system.
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