International Journal of Technology and Emerging Sciences (IJTES)

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Volume 02 || Issue 01 || Jan 2022 || pp. 5-10 E-ISSN: 2583-1925

Fuzzy Control Mechanism For Anti-Lock Braking System By Using Fuzzy Logic
K Shailendra Patnaika*,Bhaskar Mahobiyaa
a*
M.Tech Student, Department of Mechanical Engineering, OP Jindal University Raigarh,
Chhattisgarh,India

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Abstract -This paper describes an intelligent method of a device that can prevent the car from locking up during
using a fuzzy logic to control an anti-lock braking system emergency braking. Because the tire road slip is controlled
(ABS). Parking in a hurry on slippery roads can be very within an acceptable range, the maneuverability of the vehicle
challenging.The anti-lock braking system (ABS) solves many when turning can be maintained. By maintaining maximum
challenges from this sometimes nerve-wracking incident. In friction during braking, ABS can shorten the braking distance.
fact, on slippery roads, even professional drivers cannot stop
as quickly as ordinary drivers with ABS without ABS. Due to the popularity and commercial value of ABS, it has
Compared with the braking system without ABS, the anti-lock attracted a large number of researchers in this field. LI Davis,
braking system improves the controllability of the vehicle. Jr., GV Puskorius, F. Yuan and LA Feldkamp at all, provided
Fuzzy logic is a multi-valued logic that is used to cope with the neural network modeling and control of the anti-lock
data that is erroneous or ambiguous. Everything, according to braking system [1]. Drakunov, Ozguner, U provided the
classical logic, may be expressed in binary: 0 or 1. Everything control design for ABS through the sliding mode method [2].
is either in one set or the other in Boolean algebra, but not
Layne and Kevin used fuzzy model reference learning control
both sets at the same time. Partially membership is allowed in
the fuzzy logic set, with values ranging from 0 to 1. When technology [3] to maintain sufficient performance even under
fuzzy logic is used with an expert system, this permits logical unfavorable road conditions. A phase-locked loop control
inferences to be derived from incorrect relationships. scheme was used by Yeh E and Wang JY to study ABS [4].
Guntur, R.R. applied the parametric plane method to study
Fuzzy controllers for nonlinear, time-variant, and emergency conditions when handling a vehicle [5] .Other
sophisticated systems have been attempted. In emergency researchers have also done a lot of intensive works on ABS
scenarios, fuzzy controllers have been designed to reduce controller design ,vehicle performance,development of linear
sliding and retain steering control. ABS systems use a variety
hydraulic ABS & wheel slip ratio [6][7][8].In these paper on
of control algorithms, which play a key part in determining
their performance. We show how Fuzzy Logic is utilised to the basises of these simulation results, we developed some
control an ABS system in this study. Many different control design principles for fuzzy controller designs for antilock
algorithms govern ABS systems, and these algorithms braking systems. Additionally, we intend to use fuzzy logic to
determine the performance of these systems in part.. develop a fuzzy controller model for auto antilock braking
systems..
Key Words: Fuzzy logic , Anti lock braking system , Fuzzy
controller ,Brake performance. 1.1 FUZZIFICATION
1. INTRODUCTION Fuzzy controllers, in general, look at input values to see if
they're crisp or fuzzy. Crisp values are referred to as such
Fuzzy logic is a technique for representing and processing because they are represented as a single integer rather than a
uncertain information. In more traditional propositional logic, fuzzy one.
every fact or proposition must be true or false. However, most This method changes the crisp input to a fuzzy number, which
of the information people use about the world contains a the fuzzy controller can understand. Fuzzification is the term
certain degree of uncertainty. It deals with vague and for this procedure. Information from the knowledge base is
inaccurate information. This is a serious over-simplification of utilised to convert an input value to a fuzzy value in order to
implement fuzzy logic in it. The Gaussian, triangular, and
the world problem of the real situation and is based on the trapezodial MFs are the most widely utilised in the
degree of truth rather than the usual 1/10 of true/false or fuzzification process, according to the literature.
Boolean logic.
A fuzzy subset, also known as a membership function, is
Recently, Anti lock Brake system has gradually been accepted a fuzzy variable that can be used to divide a continuous
as standard equipment for vehicles. Anti lock Brake System is number into multiple levels. Each level may be viewed
as a fuzzy variable depending on the requirements.
© 2022, IJTES | Volume 02 || Issue 01 || Jan 2022 | Page 5
 result delivers a crisp fee, may be highly popular. The "height"
1.2 DEFUZZIFICATION technique, which takes the fee of the most important
contributor, is another option. The centroid technique favours
The method of getting quantifiable results is known as fuzzy the thumb of thumb of thumb guideline with the most critical
output area, whereas the pinnacle approach clearly favours the
logic. The fuzzy system's ruleset consists of a set of rules that
thumb of thumb of thumb guideline with the most essential
change some variables into fuzzy outcomes. This outcome is
output fee. On this paper, stick to the centre of gravity.
depicted as being part of a fuzzier collection. The simplest and
least helpful method for non-fuzzy is to choose the sentence
with the highest membership. The process of transforming
fuzzy inference findings to sharp values via a decision-making
process that selects the optimal sharp value based on the
output of all rules is known as defuzzing. The process of
converting a collection of ambiguous outcomes into a single
number.

2. METHODOLOGY

A real-time professional gadget that implements a number of

human operators is known as a fuzzy genuine judgement
manage device. In the proximity of PID parameters or
differential equations, these operators are difficult to specify in
terms of movement instructions. In areas where the classical
management concept has been significant for many years, Figure-1: Flow chat of Fuzzy logic precomplier action
fuzzy genuine judgement management systems were a huge
success. In a few ways, this differs from the traditional
management concept. One of the principle abilties of fuzzy 3.THE FUZZY LOGIC-ABS ALGORITHM
genuine judgment manage is that it exists at one-of-a-type
levels. On the most effective hand, there are symbolic if-then The Fuzzy-Controller uses two input values:-
guidelines and qualitative and fuzzy portions and values such The wheel slip - The Wheel Accelaration-
as "negative". Here, the moderate boom and excessive voltage
are fuzzy values and fuzzy operators. The IF element is
referred to as the "preceding" and the THEN element is
referred to as the.
The purpose of fuzzy control is to translate differential With wheel speed v haggle speed v fuz, that is given with the
equation-based procedures into artificial intelligence strategies guide of utilizing the Fuzzy-Estimator. The enter factors are
and solve the entire problem. One method of combining fuzzy changed over into fluffy factors slip and dv wheel/dt with the
and PID-control is to utilise a linear PID tool sooner or later of guide of utilizing the fuzzification cycle. The two factors use.
the set-point, in which it performs its function, and to Seven semantic qualities, the slip variable is characterized
delinearize the tool in specified areas using a method of with the guide of utilizing the terms.
expressing the well-known behaviour or control technique with
fuzzy rules. Conceptually, fuzzy top judgement controllers are Where, Slip = it can be zero,or up to very small than
relatively straightforward. optimum, Optimum very lage for the acceleration.
They consist of :- An Inputi Stage, A Processingi Stage, An
Outputi Stage dvwheel/dt= it can be small negative, medium negative and
large negative, zero, small postive, large positve.
Sensors or specific information sources (like switches,
thumbwheels, etc) are planned to proper participation
capacities and truth esteems by the info degree. The processing
degree invokes each applicable rule, provides a stop end result
for each rule, and then combines the rules' effects. Finally, the
output degree turns the combined stop result to a specific
manipulation output value once more.
There are lots of rules in a now not uncommon fuzzy now not
uncommon sense manipulating mechanism. The "max-min"
inference procedure, in which the output club feature is
assigned the truth fee generated via the premise, is the most
currently not exceptional and brilliant one. In hardware, the
rules can be solved in parallel, while in software, they must be
solved sequentially. All induced rules' effects are "defuzzified" Figure-2 : Computation Simulation of Fuzzy logic
into smooth values using one of several ways. The "centroid" based calculated
approach, in which the "centroid" of the surrender give up end

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4. FUZZY LOGIC BASED ANTI-LOCK BRAKING
SYSTEM
The anti-lock braking system (ABS) is a car safety feature that
prevents the wheels from locking up when the vehicle is
braking. Anti-lock brake controller is another name for it.
Vehicles with this ABS have the best vehicle control and the
lowest braking distance possible during emergency braking.
An anti-lock braking system (ABS) prevents the wheels from
locking up while braking, allowing the driver to better manage
the vehicle and maintain traction on the road. ABS was
originally used in the 1950s, decades before contemporary
systems were developed. As a result, the "Rail Vehicle Anti-
Skid Regulations" were enacted. Gabriel Voisin, a French Figure -3: Configuration of Fuzzy logic anti brake
automobile and aircraft pioneer, tested a mechanism in 1920 to system
lessen the risk of tyre slippage by regulating the hydraulic
braking force on aircraft brakes. Threshold braking on an
The valve on this framework has three positions: position one
aeroplane, for example, is nearly impossible.
opens; the tension from the expert chamber is
The lower rear of anti-lock brakes is based on a simple straightforwardly sent to the brake. Position two shuts the
principle. A wheel that is slick has much less traction than a valve; the tension from the expert chamber is
wheel that is not slippery (tyre contact ground sliding relative straightforwardly communicated to the brake. Position three
to the road). ABS is a dynamic, non-linear material. ABS is shuts the valve; the strain from the expert chamber is
now universally recognised as an important aspect of vehicle straightforwardly sent to the brake.
safety. The management mechanism of ABS is in charge of
tool performance. The flywheel and valve are connected by a In 2nd position, the valve closes the pipeline, disconnecting the
hydraulic line that delivers oil to the brake cylinder. The
brake from the master cylinder. The pressure will not rise any
flywheel is attached to a drum that rotates at the same rate as
further if the driver presses harder on the brake pedal.
the wheels. This causes the valve to open, enabling a tiny
amount of brake fluid to bypass the draw close cylinder and
into the communal reservoir, reducing cylinder pressure and In 3rd position, the valve releases some braking pressure.
releasing the brakes. Because the valve can discharge braking pressure, there must
be a way to restore it. As a result, the pump recovers the
5.COMPONENTS OF FUZZY LOGIC ANTI- pressure in the pipeline when the valve lowers it. ABS
LOCK BRAKE SYSTEM significantly enhances safety.
There are four main parts in ABS.
They are :- When wheel slip is detected, the ABS pump is used to re-
 Wheel speed sensors establish hydraulic braking pressure once the valve is
 Electronic Controller Units (ECUs) released. Once the user's pressure is released, the pump
 Hydraulic valves restores the appropriate pressure to brake the system. The
 Pumps controller will regulate the pump's condition to deliver the
required pressure and reduce slippage. The controller of an
Anti-lock brakes need a way to detect when the wheels are automobile is an ECU-like unit that receives data from each
about to lock. Wheel speed sensors are used to determine wheel speed sensor individually. If the wheels lose traction,
whether the wheels are speeding up or slowing down. These the controller receives a signal. The ABS regulator is then
sensors use magnets and Hall effect sensors, as well as gears activated, which opens and closes the brake valve and
and electromagnetic coils, to generate signals. The spinning of regulates the braking force (EBD).
the wheels or differential creates a magnetic field surrounding
the sensor. When the magnetic field fluctuates, the sensor 6.WORKING OF FUZZY LOGIC ANTI LOCK
generates a voltage. The sensor may become erroneous at low SYSTEM
speeds because the voltage created in the sensor is caused by The ABS system comes in a variety of configurations and
wheel rotation. Because of the slower wheel rotation, control algorithms. ABS performance is partially down on the
erroneous magnetic field changes can occur, resulting in control algorithm. The speed sensor is constantly monitored
inaccurate controller readings. In the braking line, each brake by the controller. It's checking for unusual slowing of the
has an ABS-controlled valve. In the brake line, each brake has wheels. It will experience rapid deceleration just before the
an ABS-controlled valve. wheels lock. The wheels will halt far faster than any car if left
unchecked. A car can stop from 60 mph (96.6 km/h) in 5
seconds under perfect conditions, while a locked wheel can
cease spinning in less than a second. Because the ABS
controller recognises that such rapid deceleration is
impossible, it will lower the brake pressure until it detects
acceleration, then increase the pressure until it detects

© 2022, IJTES | Volume 02 || Issue 01 || Jan 2022 | Page 7

deceleration.It can do this quickly, and the tyres can then
dramatically vary the speed. As a result, the tyres descend at
the same pace as the vehicle, and the brakes come the tyres
dangerously near to locking up. This gives the system's
maximum braking force. Simple if-then rules are insufficient
for fuzzy ABS, which necessitates a more complicated control
structure. The input variables are directly marked as output
variables in if-then rules. It is possible to set up a control with
intermediate fuzzy variables.
Figure-5: Graph plotted between wheel slip & Road
If the back wheels are turning slowly and the speed was high adhesion
not long ago, lowering the rear brake pressure is a good rule The wheel slip, addressed by lb, is the proportion of the
of thumb when using fuzzy variables. When the ABS system contrast between the vehicle's speed and the wheel's
is turned on, the valve opens and closes quickly, causing the translational speed to the vehicle's speed. The purpose
brake pedal to pulsate. In rare circumstances, ABS systems of ABS is to keep each vehicle tyre functioning at the peak
can cycle up to 15 times per second. The ABS working of the mu-lb curve for that tyre, implying that ABS
principle is shown in the diagram below. performance is highly dependent on the surface condition.

8. THE STRUCTURE OF FUZZY LOGIC ANTI-

LOCK BRAKING SYSTEM

The defuzzification of the linguistic variable pressure yields

the best breaking pressure. Finally, a three-step controller
decides the location of the magnetic valves, as well as whether
the pressure should be increased, maintained, or reduced. The
figure depicts the total number of fuzzy calculations. The
quantity of fuzzy rules is indicated by the numbers within a
rectangle.

Figure-4: Working schematic block diagram of fuzzy logic

based fuzzy control anti lock braking system.

7. FUZZY LOGIC CONTROLLER OF ANTI

LOCK BRAKING SYSTEM Figure-6: Structure analysis of wheel slip & wheel
acceleration
Fuzzy logic controllers could be used to control non-linear,
time-variable, and sophisticated systems. ABS, as a non-linear It should be mentioned that language variables and rule tables
system, may be difficult to regulate using traditional control can be constructed using numerical optimization approaches;
methods. For this type of nonlinear system, an intelligent however, in this study, they were created utilising expert
fuzzy control strategy is particularly effective. The slippage knowledge and data analysis during ABS braking action. The
performance of an intelligent fuzzy ABS controller may be microprocessor SAB 80C166 and the fuzzy coprocessor SAE
adjusted for a range of roads. The biggest disadvantage of 81C99A are used in the fuzzy ABS controller [2]. The host
standard brakes is that the brake torque applied to the brake processor's calculation speed rose dramatically as a result of
cannot be accurately controlled by the driver. Furthermore, the inclusion of Fuzzy algorithms in the coprocessor's
because the driver lacks sufficient knowledge about the road hardware. The computation time was only 0.5 milliseconds
conditions, he may cause wheel locking by applying excessive while the control cycle time was set to a standard value of 7
brake pressure. Anti-lock When compared to braking systems milliseconds! This provides the means to implement advanced
without ABS, brake enhances vehicle controllability. vehicle dynamics control. . The coprocessor is quite versatile,

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as it can handle up to 64 rule bases, each having 256 inputs
and rules. There is also an interface for the majority of
commonly used microprocessors. Because it includes limitless
shapes of membership functions, multiple defuzzification
modes, including "Center of Gravity," and a huge rule engine
that can do up to 10 million rule calculations per second, this
device is a particularly exciting product in the field of real-
time fuzzy control.

9. IMPACT OF FUZZY LOGIC ANTI LOCK Figure-7.1.a: Friction characteristics

BRAKE SYSTEM
b:wheel model is shown as:-
The motivation for the development of fuzzy antilock
brakes is straightforward. If one or more of a vehicle's
wheels lock (begin to skid) when braking, a number of
things can happen:
a) The braking distance grows.
b) Control of the steering wheel is lost.
c) Abnormal tyre wear is expected.

The obvious result is that an accident is much more

likely to happen. Brakes produce a force that obstructs a Figure-7.1.b: Wheel model
vehicle's motion by applying a force in the opposite
direction. During severe braking conditions, a point is
reached where the tyre surface's tangential velocity and 10. BENEFITS OF FUZZY LOGIC BASED ANTI-
the velocity of the road surface are not the same. The LOCK BRRAKING SYSTEM
slip ratio is the proportion of the tangential velocity of
the tyre to the vehicle's real ground speed, represented as:  Automobiles can be stopped faster, and braking
distances are less. While braking, you can still steer.
The circumferential velocity of the braked wheel is Vg,
while the vehicle's road speed is Vt. The slip of a free  The percentage of road crashes has decreased
rolling wheel is 0%, while the slip of a locked wheel is significantly thanks to fuzzy ABS. ABS will be standard
100%. Slip is a function of braking force or the adhesion equipment on 35 percent to 50 percent of all automobiles
coefficient of braking force (f) measured in the direction made worldwide in five years, according to experts.
the wheel is turning. Vg is the circumferential velocity
of the braked wheel, and Vt is the vehicle road speed.  Insurance premiums are lower. Because it is a tried-and-
The slip of a free rolling wheel is 0%, while the slip of a true safety equipment with a proven track record of
locked wheel is 100%. Slip is a function of braking force performance, insurance companies frequently offer
or the adhesion coefficient of braking force (f) measured clients a discount for having a FUZZY ABS system
installed in their vehicle.
in the direction the wheel is turning. f is determined by a
multitude of factors, the most important of which are:-  These new technologies aid in ensuring that each wheel
has traction on the road, making it simple for
a)Material condition of the road surface. manufacturers to integrate these features into the engine
b)tire construction, tread depth, tread pattern, and system.
inflation pressure.
 Even in slick conditions, the usage of FUZZY
The goal of an ABS is to reduce braking distance while CONTROL ABS prevents lock-ups and sliding..
maintaining steering ability even while braking
aggressively. Consider the following diagram to grasp  If the signal to the fuzzy logic is low, the brake actuator
the underlying physical effect that causes wheel- is engaged, and the value is controlled to lessen the
braking pressure on the car wheel while the vehicle is in
blocking when braking: motion.
a: Coefficient of friction is shown as a function of wheel slip:-

© 2022, IJTES | Volume 02 || Issue 01 || Jan 2022 | Page 9

11. CONCLUSIONS [8].Nakayama, Y., Kawahata, F. , Shirai, K. “Development Of
Linear Hydraulic ABS’ ,JSAE Review, Vol 14, No 1, Jan
The nonlinear characteristic surface formed by fuzzy logic 1993.
serves as the foundation for the control method. The primary
advantage of fuzzy logic is that it can modify and adjust
particular areas of the feature surface quickly and precisely.
All that is required is a change in the language rules or
variables. This drastically streamlines the development
process and reduces the amount of time it takes. The use of
fuzzy ABS produces good results when assessing the vehicle's
braking behaviour. The level of deceleration and steering
ability are equivalent to commercially available systems. In
automotive applications, the integration of fuzzy logic and
microcontrollers together is a relatively new invention. At this
time, Intel is not aware of any ABS-related projects. Fuzzy
Sets and Systems is a fantastic publication devoted to fuzzy
logic and fuzzy logic-based control systems.

ACKNOWLEDGEMENT

We owe a debt of appreciation to our project supervisor, Dr.

Mithilesh Kumar Sahu, Professor, Mechanical Engineering
Department, who took an active interest in our research and
supervised and directed us throughout, providing all essential
information and encouragement.

REFERENCES

[1]. L. I. Davis, Jr., G. V. Puskorius, F. Yuan and L. A.

Feldkamp (1991). Neural Network Modeling and Control of
an Anti-Lock Brake System. Proceedings of the Intelligent
Vehicle '92 Conference, June 29 - July 1, 1992, Ypsilanti,
Michigan.

[2]. Drakunov, S., Ozgiiner, U,, Dix, P., “ABS Control Using
Optimum Search via Sliding Modes”, IEEE transaction on
control systems technology, Vo1.3 No. 1 March 1995.

[3].I Layne, J.R., Kevin, Passino, M., Yurkovich, S., “Fuzzy

Learning Control for Antiskid Braking System”, IEEE Tram
on control systems technology, Vol.1 No.2 June 1993.

[4]. Yeh, E., Wang, J.Y. “A Phase-Lock Loop Control Scheme

For Anti-skid Brake Systems”,9th Nat. Conf. On Mech. Eng.
CSME, Kaohsiung, Nov,1992.

[5]. Guntur, R.R. “Application Of The Parameter Plane

Method To The Handling Of A Vehicle Under Emergency
Conditions”, SAEpaper No.720356.

[6]. Tan, H. S., Tomizuka, M. “Discrete-Time Controller

Design For Robust Vehicle Traction”, IEEE Control Systems
Magazine, Apr 1990 ,pp107-113.

[7]. Dugoff, H., Fancher, P. S., Segel, L. “An Analysis Of Tire

Traction Properties And Their Influence On Vehicle Dynamic
Performance”, SAEpaper No. 700377.

© 2022, IJTES | Volume 02 || Issue 01 || Jan 2022 | Page 10