Nonlinear and Adaptive Control of Anti-lock Braking Systems Combined with Active Suspensions

• Main Authors: Wei-en Ting, 丁偉恩
• Other Authors: Jung-Shan Lin
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/59060256651436550319

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.