MBD
Antilock brake system
What is ABS? Why is it required? How does it work? Electronics part of it.
Diagrams: BD
Graphs: Road friction Vs Slip, Slip with and without ABS
Safety feature that assists the driver in deceleration of the vehicle in poor and marginal
conditions
Panic braking by driver = loss of direction of vehicle and locking of wheels
During braking Vehicle skid may happen
For a car travelling at a speed U and the wheels rotating at an angular speed ω
ω =(Π/30) RPM
When the wheel is rolling U=Rω where R = tyre radius
When brake is applied, a torque is applied in opposition to the wheel rotation. This force
decelerates the car (diag)
During braking, the wheel angular speed begins to decrease = difference between vehicle
speed,U and tyre speed over road, ωR
SLIP, S = U – ωR
Normally S=0, as …..
During extreme braking S=1 as ….
S=1 ----- fully locked wheels
Consider lateral friction .tyre-road interface.
SLIP
ABS first estimates the torque applied to the wheel at the road surface by the braking force
Wheel torque, Tw = R Fb
It then applies an opposition torque, Tb = kbP P=brake Pressure kb = brake constant
The difference between these two torques acts to decelerate the wheel.
Tw = Tb + Iw w` where Iw is the MOI of the wheel and w` is the deceleration
As brake is applied, brake torque increases and wheel angular rotation decreases.
Graph of Tw Vs Slip
Mass of the car body = SPRUNG MASS ( mass supported by the springs)
Spring constnt is decided based on the desired height of the car body under no load condition.
Typically weight on front wheels > weight on rear wheels
Therefore, Front spring constant > rear
Connections: M,B,D