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Holy Cross of Davao College: Submitted By: Amigo, Frances Margaux R. Carriedo, Shiela Mae B

This document summarizes an advanced computer controlled brake system. It includes: 1) An introduction describing traditional brake systems and the need for more advanced control systems to improve safety. 2) A diagram of the proposed advanced brake control system model including a nonlinearity and time delay. 3) A discussion of the diagram explaining that feedback linearization will be used to cancel the nonlinearities and allow standard control design techniques to be applied, with the goal of uniform and robust performance.

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50 views3 pages

Holy Cross of Davao College: Submitted By: Amigo, Frances Margaux R. Carriedo, Shiela Mae B

This document summarizes an advanced computer controlled brake system. It includes: 1) An introduction describing traditional brake systems and the need for more advanced control systems to improve safety. 2) A diagram of the proposed advanced brake control system model including a nonlinearity and time delay. 3) A discussion of the diagram explaining that feedback linearization will be used to cancel the nonlinearities and allow standard control design techniques to be applied, with the goal of uniform and robust performance.

Uploaded by

Sunshine Padilla
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Holy Cross of Davao College

Sta. Avenue, Davao City

College of Engineering and Technology


In partial fulfillment for
Feedback and Control System
1st semester SY 2016-2017

Advanced Brake Control System

Submitted by:
Amigo, Frances Margaux R.
Carriedo, Shiela Mae B.

Submitted to:
Engr. Roland Pelayo

Date Sumitted:
September 23, 2016

I.

Introduction
When drivers hit the brake pedal today, their foot moves a piston rod which is
linked to the brake booster and the master brake cylinder. Depending on the pedal
force, the master brake cylinder builds up the appropriate amount of pressure in the
brake lines which - in a tried and tested interaction of mechanics and hydraulics then presses the brake pads against the brake discs via the wheel cylinders.
With an ever increasing number of vehicles on the limited highways, it has
become urgent to develop sophisticated technical solutions to today's surface
transportation problems. There are a lot of areas now in transportation system whose
purpose is to improve the efficiency of the current transportation system through the
use of advanced technologies. These technologies will be used to automate vehicles,
infrastructure and improve the intelligence of decision making.
The brake subsystem is one of the most significant parts of a vehicle with respect
to safety. This advanced computer controlled brake system has the capability of acting
faster than the human driver during emergencies, and therefore has the potential of
improving safety. In this paper we consider the computer controlled brake subsystem
function. The objective is to understand the dynamics of the braking function by
modeling its behavior as a dynamic system and to design and test control algorithms
for controlling it in order to meet given performance requirements.

II.

R( s)

Diagram

KT ( za)w
z1

ax +w

a
1
1
v + 1
x
Tb
Tb

g (a , x)

C( s)

III.

Discussion of Diagram
The nonlinearity of the model of the brake subsystem under consideration is in the
form of a hysteresis and variable time delay. The main objective of the controller
design in this paper is to make the performance of the brake subsystem as uniform
and robust as possible throughout the range of operation. One way to achieve this
objective is to use feedback linearization to cancel the nonlinearities of the system.
The design of the brake controller in this paper follows the guidelines provided by the
feedback linearization techniques given in the staircase inputs. The brake model given
has no explicit control input term. Since the parameter a in the brake model is a
nonlinear function of the control input u and state x and the inverse mapping
u ( k )=g1(a , x ) is guaranteed to exist for all values of a and x within the operating
range

(S o , U o )

of

the

U o={u R :umin u u max }


umin and umax

system,

, where

Pmax

where,

S o={ y R :/ y / P max }

is the maximum allowable pressure,

represent the minimum and the maximum allowable control input

respectively. Hence with the condition given, we can consider a to be the virtual
control input. This assumption would help us to linearize the system by using
standard input-output feedback linearization techniques. The controller design
proceeds by first linearizing the brake model, with output x (k ) and input a,
without changing the internal state dynamics b(k ) .

We first let,

a (k )=

1
1
x (k)
( ax ( k ) +w ( k ) ) + 1
, where
Tb ( k )
Tb ( k )

design constant and

is some

is the new input. The resulting system is:

x ( k + 1 )=ax ( k ) +w (k ) . And lastly, the

the control objective.

KT ( za)
z1

there will be chosen to meet

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