Simulace a robustní řízení antiblokovacího systému ABS

Abstract

The thesis is focused on simulation and design of a robust control for antilock braking system ABS through the use of the SiL (Software-in-the-Loop) method. The thesis coming from design and functional knowledge of the vehicle conventional braking systems, vehicle control systems like ABS, ASR, ESP, and the dynamic behavior of combustion engine, transmission, vehicle and tires. The first part of the thesis deals with the present trends in mathematical modeling in the automotive industry. Thesis deals with the antilock braking system ABS and describes all the parts of the ABS in term of the construction design and functionality. Consequently all the parts of the ABS are described by linear or nonlinear mathematical models. The next part of the thesis deals with the mathematical model of the vehicle with a tire. The mathematical model of the vehicle is necessary for simulation of the driving maneuvers and research of the vehicle behavior during braking. The last part of the thesis is focused on robust design of the ABS control and confrontation of the simulation results with experimental measurements. In the conclusion perceptions and knowledge acquired during the design of the ABS simulation system are summarized. Contribution of the thesis is especially in the area of the mathematical modeling with interaction to the elementary robust control design of the ABS system.