Anti lock braking(ABS) system

 Under braking, if one or more wheels lock the following are the consequences
 Increase in braking distance due to wheel skid
 Loss of steering control
 Abnormal tire wear

 As a result, accident may occur

 Maximum deceleration is achieved at maximum braking and a good driver can
pump the brakes on and off to prevent locking
 An electronic system i.e ABS system can perform this task more efficiently

“Brakes were invented to enable us

drive faster not safer”
First anti skid system in 1950’s

02/08/2022 1
 ABS requirements

 Fail safe system - If ABS fails conventional system must operate

 Maintain maneuverability – Good steering and road holding must continue

 Immediate response – system must react even for a shorter distance

 Operational influences – Must operate in various road and driving conditions

 Controlled wheels – At least one wheel should be controlled on a different circuit

 Speed range- Must operate at all speed ranges

02/08/2022 2
General system
 Closed loop system
 Variables:
 Pedal pressure - determined by the driver
 Brake pressure – normally proportional to pedal
pressure
 Controlled variable – Result of changes in brake

pressure or wheel speed

 Road/vehicle conditions – vehicle load, road

conditions, tire and brake condition
 Vehicle reference speed – from the combination of
two diagonal wheels
 Wheel acceleration or deceleration – live
measurement
 Brake slip – calculated value
 Vehicle deceleration – ABS controls based on the
input from sensors
02/08/2022 3
 System components
Wheel speed sensors
 Simple inductive sensors
 Frequency and voltage are
proportional to wheel speed
 Hall effect sensors are also used
sometimes
02/08/2022
ABS ECU
 Take in information from the
wheel sensors and calculate the
best course of action for the
hydraulic modulator
 Independent program
 If fault is detected, ABS
disconnects and a warning is
given
 Conducts a 0.3s self test
procedure
Hydraulic Modulator
 Pressure build-up – brake line
open to the master cylinder.
 Pressure reducing – brake line
open to the accumulator.
 Pressure holding – brake line
closed.
4
Modulator function-Pressure build up

Normal pressure build up

Pressure from
master cylinder

Main line open Accumulator

Closed to accumulator

02/08/2022 5
Modulator function-Holding

Holding phase
Pressure from
master cylinder

Main line closed Accumulator

Closed to accumulator

02/08/2022 6
Modulator function-Reducing

Reducing phase
Pressure from
master cylinder

Main line closed Accumulator

Open to accumulator

02/08/2022 7
ABS Control strategy

Brake pressure control  Called as “first control cycle smoothing”

commencement  Necessary in order not to react to minor road disturbances

Even road surface  ABS works best under constant road and tire adhesion
regulation  Regulation frequency is low with small changes in brake pressure

 Braking under uneven road adhesion causes vehicle to spin

 Can be achieved by steering if time is available
Vehicle yaw
 Pressure to the stable wheel is controlled when the wheel with poor
adhesion becomes unstable

 Wheel instability occurs on rough roads frequently

Axle vibration
 A constant brake pressure is induced by ABS if axle vibrations are
recognized

02/08/2022 8
ABS control strategy

 During wheel instability

Rapid brake pressure
reduction  Wheel will re-accelerate fast

Rapid rise in brake  During and after re-acceleration

pressure  Value just less than the instability pressure

Discrete increase  In case of increased adhesion

Sensitivity adjustment  For varying road conditions

No operation  During axle vibration

02/08/2022 9