CONTROL PERFORMANCE OF VEHICLE ABS FEATURING ER VALVE PRESSURE MODULATOR

Abstract

In this work, an electrically controllable anti-lock brake system (ABS) for passenger vehicle is developed by utilizing electrorheological (ER) fluid. A pressure modulator which consists of a cylindrical ER valve and the hydraulic booster is constructed in order to achieve sufficient brake pressure variation during ABS operation. The principal design parameters of the modulator are determined by considering ER properties as well as required braking pressure. After investigating pressure controllability of the modulator, a vehicle model which is integrated with the proposed pressure modulator is formulated to design yaw rate controller. A sliding mode controller is designed to obtain desired yaw rate, and the friction forces between roads and wheels are estimated via the estimator. Braking performances of the proposed ABS under various roads are evaluated through the hardware-in-the-loop-simulation (HILS) and the steering stability during braking operation is demonstrated by undertaking split-μ test.