DESIGN AND ANALYSIS OF AN ANTILOCK BRAKE CONTROL-SYSTEM WITH ELECTRIC BRAKE ACTUATOR

This paper analyses the feasibility of an antilock brake control system using an electric brake actuator. The analysis is focused on the closed-loop control of wheel slip. Wheel and vehicle dynamics during longitudinal braking on uniform surfaces are first analysed to provide a model for performance evaluation using a linear feedback controller design with ideal feedback information from the vehicle, wheel and actuator sensors. The robustness of the linear controller is then analysed by a parametric study of the system's root locus. Since the linear controller was found to have difficulty solving the sensitivity problem, a nonlinear feedback control was then analysed. A formulation of sliding-mode control for the brake system is derived, and a simple solution to the brake control command is also proposed. Computer simulation results of both the linear and nonlinear controller are presented.