PRESENTATION

ON
ANTI LOCK BRAKING SYSTEM
USING FUZZY LOGIC
By
S.Akarsh(13stuhhec0073 )
Dheeraj Yadav(13stuhhec0077 )
Srivastav Reddy(13stuhhme0105)

INTRODUCTION OF ABS SYSTEM

Anti-lock braking system (ABS) is
an automobile safety System that allows
the wheels on a motor vehicle to maintain tractive
contact with the road surface according to driver
inputs while braking , preventing the wheels from
locking up (ceasing rotation) and avoiding
uncontrolled skidding
ABS generally offers improved vehicle
control and decreases stopping distances on dry
and slippery surfaces; however, on loose gravel
or snow-covered surfaces, ABS can significantly
increase braking distance, although still
improving vehicle control

WORKING OF ABS SYSTEM

ABS CONSIST
OF

Wheel speed sensors

Hydraulic Modulator unit

Electronic control unit

Braking Device

FUZZY LOGIC
Fuzzy logic is a form of many-valued logic in which the truth
values of variables may be any real number between 0 and 1. By
contrast, in Boolean logic , the truth values of variables may only be
0 or 1. Fuzzy logic has been extended to handle the concept of
partial truth, where the truth value may range between completely
true and completely false.
For Intelligent control systems like fuzzy control can be used in
ABS control to emulate the qualitative aspects of human knowledge
by rule-based algorithms

Mathematical Modeling
Vehicle Modeling

Wheel dynamics Model

Jw = ( * Fn *r ) - Tb

J s w(s) =[ Fn r ] Tb(s)
= ( V rw ) / v

T.F

Slip ratio

= [ V ( 1- ) - r w ] / V

rb

=
Ff

V= Fn/m
(s) { s + ( Fn/mv ) } = (Fn/mv ) ( r s
w(s) / v)

T.F

 Brake Model
Tb = d * rb * Fb
T.F

Tb(s) = d * rb * Fb(s)

Tb Torque by brake
Fb- Brake Force
d - for disc
rb disc radius

Tire Model
Tf = Ff * r
Ff = Fn * t
Fn = Mg
( tire) = F()
W(s) = [ Fn r - d rd Fb(s)] / Js
Fb(s) rb d + Js w(S) = Tf

W= angular velocity
t = = friction
coefficient b/w tire &
road
Fn = Normal Force

Block Diagram

Slip ratio
o/p

E2
-

(s)
+

1/ { s +
Fn/mv }

Fn/mv

1/rmv

rs /v

Brake
Force
Fb(s)

E1

rb d

Tf(s)

W(s)
1/ Js

E3
Js

Tf(s)

Fn
1/ r
Tf = Fn r

Torque of
Tire o/p
variable

Control system block diagram

Fuzzy
controller