ADDIS ABABA UNIVERSITY INSTITUTE OF TECHNOLOGY

AAIT/SMIE

THERMAL STUDENTS

MECHATRONICS MINI PROJECT

An Antilock-Braking Systems
(ABS) Control

DONE BY

NAME ID

1. Andebet Atlaw ATR/5512/05

2. Ashenafi Abebe
3. Eirmias Chanyalew
4. Lieul Teklie
5. Isayas warga sherkefa

08-Dec-15
Submitted to INS. Biruk
Alemu
TABLE OF CONTENT

NO. Topic/title page

. Introduction or Background
CHAPTER ONE 1.0. Typical ABS components and basics of control units
1.1. The control units( ABSCM/HCU)
1.2. Actuators as relay and valves
1.3. The four wheel sensors and signal flow (GS/LGS)
1.4. Signal conditions
1.5. Modeling principles of the components
CHAPTER TWO ACTUATORS

CHAPTER THREE CONTROL SYSTEMS

 An Antilock-Braking Systems (ABS) Control
Keywords: ABS, Intelligent Control, Fuzzy Control

1. Introduction
Since the development of the first motor driven vehicle in 1769 and the occurrence of
first driving accident in 1770, engineers were determined to reduce driving accidents and
improve the safety of vehicles. Vehicle experts have developed this field through the
invention of the first mechanical antilock-braking system (ABS) system which have been
designed and reduced in aerospace industry in 1930.
In 1945, the first set of ABS brakes were put on a Boeing -47 to prevent spin outs
and tires from blowing and later in the 1950s, ABS brakes were commonly installed
in airplanes. Today, all wheel ABS can be found on the majority of late model vehicles and
even on select motorcycles.
ABS is recognized as an important contribution to road safety as it is designed
to keep a vehicle steerable and stable during heavy braking moments by preventing
wheel lock. It is well known that wheels will slip and lockup during severe braking or
when braking on a slippery (wet, icy, etc.) road surface. This usually causes a long
stopping distance and sometimes the vehicle will lose steering stability. The objective of
ABS is to manipulate the wheel slip so that a maximum friction is obtained and the
steering stability (also known as the lateral stability) is maintained. That is, to make the
vehicle stop in the shortest distance possible while maintaining the directional control.
 CHAPTER ONE
1.0. Typical ABS components include
Vehicle’s physical brakes, wheel speed sensors (up to 4), an electronic control
unit (ECU), brake master cylinder, a hydraulic modulator unit with pump and valves.
Some of the advanced ABS systems include accelerometer to determine the
deceleration of the vehicle.
 2. Principles of Antilock-Brake System

We can obtain all the elements of a closed loop control system of mechatronic
elements. As:-

Control Correction Process

Reference

Control variable
unit/Micro unit/Actuator
Value processor
Error signal

Measuring
Measured value device/sensor

1. (B) ABS control module contains the first two parts of control. i.e comparison
element and control unit. Compare reference value with measured and decide what
action to take based on comparison is their respective task.
 Comparison unit compare the actual speed of the wheel and send the condition either it
goes to stop or not. When the wheel speed is lower from actual minimum driving
allowable speed leads to the driver try to brake and the ABS comparison compare or
obtain the difference from sated min. speed and actual and send the value to control
unit
Control unit decide the action to be taken and actuate the valves to open or close

2. (A & C) Actuator or correction unit is the break pipe and pressure release valve.

Process is the area to be controlled (car brake) and the variable to control is the speed of
the car.

3. (D) Measuring device or sensors at four wheel sense when it reduces and
respond conditional speed to comparison element.
Some hoe detail view of components of ABS
 SOME FEATURES OF ABS
The 5.3i type ABS used has a hydraulic control unit, an ABS control module, a valve
relay and a motor relay integrated into a single unit (called “ABSCM & H/U”) for circuit
simplicity and reduced weight.
The ABS electrically controls the brake fluid pressure by ABSCM to each wheel to
prevent the wheel from locking during braking on slippery road surfaces, thereby
enabling the driver to maintain the directional control.
If the ABS becomes inoperative, a fail-safe system is activated to ensure same level of
braking performance as with a conventional brake system. In that case, the warning
light comes on to indicate that the ABS is malfunctioning.
Vehicles with Sports ABS have an additional function which independently controls *1
the rear wheels according to the value sent from the lateral G sensor. (STi models)

*1: A system which controls the left and right wheel brakes individually.
*2: A system which applies the same fluid pressure to both wheels if either of the left
or right wheels starts to lock. The pressure is determined based on the lower of the
frictional coefficients of both wheels.
PRINCIPLE OF ABS CONTROL
When the brake pedal is depressed during driving, the wheel speed decreases and
the vehicle speed does as well. The decrease in the vehicle speed, however, is not
always proportional to the decrease in the wheel speed. The non-correspondence
between the wheel speed and vehicle speed is called “slip” and the magnitude of the
slip is expressed by the “slip ratio” which is defined as follows:-

Slip = (Vehicle speed – Wheel speed)

𝑠𝑙𝑖𝑝
Slip ratio=𝑣𝑒ℎ𝑖𝑐𝑙𝑒 𝑠𝑝𝑒𝑒𝑑*100%

Or
where ω, R, and V denote the wheel angular velocity, the wheel rolling radius, and the
vehicle forward velocity, respectively. In normal driving conditions, V = ωR, therefore S = 0. In
severe braking, it is common to have ω = 0 while S = 1, which is called wheel lockup. Wheel
lockup is undesirable since it prolongs the stopping distance and causes the loss of direction
control (steering control).
When the slip ratio is 0%, the vehicle speed corresponds exactly to the wheel speed.
 When it is 100%, the wheels are completely locking (rotating at a zero speed) while
the vehicle is moving. The braking effectiveness is represented by the “coefficient of
friction” between the tire and road surface. The larger the coefficient, the higher the braking
effectiveness.
The ABS controls the fluid pressure to each wheel so that a coefficient of friction
corresponding to this slip ratio range is maintained.
1.1. The control unit
ABS control module and hydraulic control unit (ABSCM & H/U)
ABSCM section:-
It determines the conditions of the wheels and the vehicle body from the wheel
speed data and controls the hydraulic unit depending on the result.
When the ABS is active, the ABSCM provides the automatic transmission control
module with control signals which are used by the module for cooperative control of
the vehicle with the ABSCM.
Whenever the ignition switch is placed at ON, the module performs a self-
diagnosis sequence. If anything wrong is detected, the module cuts off the system.
It communicates with the SUBARU select monitor.
H/U section:-
When the ABS is active, the H/U changes fluid passages to the wheel cylinders in
response to commands from the ABSCM.
It constitutes the brake fluid passage from the master cylinder to the wheel
cylinders together with the piping.
1.2. Actuators of valve and switch of motor
Valve relay section:-
It serves as a power switch for the solenoid valves and motor relay coil. It operates in
response to a command from the ABSCM.
Motor relay section:-
It serves as a power switch for the pump motor. It operates in response to a command
from the ABSCM.
1.3. Four wheel sensors
ABS wheel speed sensors:-
These sensors detect the wheel speed in terms of a change in the density of the
magnetic flux passing through them and convert it into an electrical signal.
The electrical signal is sent to the ABSCM.
Tone wheels:-
They give a change in the magnetic flux density by the teeth around themselves to let
the ABS wheel speed sensors generate electrical signals.
G sensor:-
It detects a change in acceleration in the longitudinal direction of the vehicle
and outputs it to the ABSCM as a voltage signal.
Lateral G sensor (STi):-
Converts the variation in lateral G on the vehicle into a change in capacity of
the sensor condenser, and outputs a varying voltage to the ABS ECU.
Stop light signal:-
It provides information on whether the brake pedal is depressed or not to the
ABSCM. The ABSCM uses it to determine ABS operation.
ABS warning light:-
It alerts the driver to an ABS fault. When the diagnosis connector and diagnosis
terminal are connected, the light flashes to indicate a diagnostic trouble
code stored in the ABSCM.
Automatic transmission control module:-
It provides gear controls (fixing the speed at 3rd or changing power transmission to
front and rear wheels) in response to control signals from the ABSCM.

1.4. Signal conditiong

1.5. Modelling
Details of above on other chapters if not else