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.