Seminar Report

ON
ANTI-LOCK BRAKING SYSTEM

Submitted in partial fulfillment of the award of

Degree of Bachelor of Technology in Mechanical Engineering

Submitted By
Ritesh Kukreti
University Roll No. - 160970104042

Submitted to
Manish Singh Bisht
Asst. Professor
Department of Mechanical Engineering

THDC Institute of Hydropower Engineering and Technology, Tehri

(Constituent Institute of Uttarakhand Technical University, Dehradun)
Bhagirathipuram - 249124, Tehri Garhwal, Uttarakhand.
Session 2017-18
 PREFACE
As a part of the THDC-IHET and in order to gain practical knowledge in the field of technology,
i have made this report file on the topic “ANTI-LOCK BRAKING SYSTEM”. The basic
objective behind doing this project report is to get knowledge of brakes in the present scenario. I
have tried my best to elucidate all the relevant detail to the topic to be included in the report.
While in the beginning I have tried to give a general view about this topic.
 ACKNOWLEDGMENT
My heart pulsates with the thrill for tendering gratitude to those persons who helped in
completion for my project. The pleasant point of presenting a report is the opportunity to thank
those who have contributed to build my knowledge. Unfortunately, the list of expressions of
thank no matter how extensive is always incomplete and inadequate. Indeed this page of
acknowledgement shall never be able to touch the horizon of generosity of those who tendered
their help to me.
I extend my deep sense of gratitude and indebtedness to my guide Mr. Manish Singh Bisht for
his kind attitude, keen interest, immense help, inspiration and encouragement which helped me
carrying out the work. It is a great pleasure for me to acknowledge and express my gratitude to
the whole teaching and non-teaching staff for their understanding, unstinted support and endless
encouragement during my project.
Finally, my housemates provided me with much needed encouragement throughout the hard
times and they selfishly took on some of my housework duties to allow me to devote more time
to my project so that I can finish it on time. Their constant encouragement, support and
understanding truly enabled me to complete this project.
 ABSTRACT
This paper investigates anti-lock braking control strategies for heavy good vehicles. A
mathematical model of the braking of an experimental articulated vehicle is developed. The
model includes the details of vehicle dynamics, the ABS control algorithm as well as the
mechanics of the foundation brakes and the pneumatic and mechanical systems. Parameters for
the model are determined from tests on an instrumented experimental tractor semi-trailer. The
model is validated by comparing its performance to experimental results for the instrumented
vehicle undergoing straight line braking tests on several test track surfaces .The simulation and
experimental results show good agreement. The model is used to evaluate the benefits of wheel
slip control. The results indicate that wheel-slip control has the potential to reduce braking
distances by approximately 25%. However, some hardware modifications may be needed to
achieve this.

Antilock Braking System is an important part to improve the automobile’s active safety. In
general, ABS is designed to achieve maximum negative acceleration by preventing the wheels
from locking. In the simulations, several situations such as braking in dry road, wet road and
snow road are considered.

ABS has been so far developed to a system, which provides rapid, automatic braking in
response to signs of incident wheel locking by alternatively increasing and decreasing hydraulic
pressure in the brake line Statistics show that approximately 40 % of automobile accidents are
due to skidding. If there is an ABS failure, the system will revert to normal brake operation.
Normally the ABS warning light will turn on and let the driver know there is a fault.
 TABLE OF CONTENTS

PREFACE ………………………………………………………………………….. i

ACKNOWLEDGEMENT …………………………………………………………. ii

ABSTRACT ……………………………………………………………………….. iii

TABLE OF CONTENTS ………………………………………………………….. iv

LIST OF FIGURES ………………………………………………………………... vi

LIST OF TABLES ………………………………………………………………... vi

CHAPTER-1 ………………………………………………………………………. 1

INTRODUCTION ………………………………………………………………….1

1.1.BRAKE SYSTEM …………………………………………………………… 1

1.2.PROBLEM ASSOCIATED WITH NORMAL BRAKING ………………….. 1
1.3.ANTI-LOCK BRAKING SYSTEM ………………………………………….. 2
1.4.TERMINOLOGY ASSOCIATED WITH ABS ……………………………..... 2

CHAPTER-2 ………………………………………………………………………... 5

MAIN TEXT ……………………………………………………………………….. 5

2.1.ISSUES ASSOCIATED WITH THE LOCKED UP WHEEL ….……………. 5

2.2.ABS TECHNOLOGY ………………………………………………………… 6

2.3.SUBSYSTEM OF ABS ………………………………………………………. 7

2.4.WORKING OF ABS …………………………………………………………. 8

2.5.ABS OPERATION …………………………………………………………… 9

2.6.IMPORTANCE OF ABS ……………………………………………………… 9

CHAPTER-3 ……………………………………………………………………….. 10
RESULT AND ANALYSIS ……………………………………………………….. 10

CONCLUSION ……………………………………………………………………

REFERENCES ……………………………………………………………………..
 CHAPTER-1

INTRODUCTION

Deadly accident occurs on roads frequently now-a-days. Research in vehicle dynamics and
control engineering is getting advancement day by day. Different techniques and ways are being
discovered. Car manufacturers world wide are vying with each other to invent more reliable
gadgets there by coming closer to the dream of the ‘Advanced safety vehicle’ or ‘Ultimate safety
vehicle’, on which research and development has been going on for the past several year. Most
of the newer vehicle models offer ABS as either standard or optional equipment .Wheel lockup
during braking causes skidding which in turn cause a loss of traction and vehicle control. This
reduces the steering ability to change direction. So the car slides out of control. But the road
wheel that is still rotating can be steered. That is what ABS is all about. With such a system, the
driver can brake hard, take the evasive action and still be in control of the vehicle in any road
condition at any speed and under any load.

1.1. Brake System

An Automotive braking system is a group of mechanical, electronic and hydraulically activated

components which use friction/heat to stop a moving object.

Braking is an essential functionality of any car, allowing the driver to control the speed under
any circumstances. This is particularly important in modern driving conditions that involve
elevated driving speeds and complex traffic situations. However, the degree of control over
speed that the driver obtains through the use of breaking depends heavily on the performance of
the brake system of the car. This performance depends ultimately on the underlying technology
and design of each particular brake system.

1.2. Problems With The Normal Braking System

  Stability- Different level of Traction between the wheels and road therefore chances of
spinning of vehicle about the vertical axis of vehicle.
 Steerability- Vehicle no longer responds to the driver’s steering intention when the
wheels are locked.
 Skidding- Vehicle takes a long time for sudden brakes applied due to high slippage
between the tire and contacted road surface.

1.3. Anti-Lock Braking System

An Anti-Lock Braking System is a safety anti-skid braking system used on aircraft and on land
vehicles, such as cars, motorcycles, trucks and buses. It is an automated system that uses the
principles of threshold braking and cadence braking, techniques which was once practiced by
skilful drivers before Abs braking system were widespread.

1.4. Terminology Associated With ABS

1.4.1. ABS Ring

An ABS ring is a notched ring attached to a wheel hub or behind a brake rotor that is read by an
ABS wheel speed sensor to determine the speed of an individual wheel.

1.4.2. ABS Wheel Speed Sensor

A sensor mounted behind a brake rotor that computes the speed of a wheel by reading the
notches on a ring attached to the wheel hub or behind a brake rotor. Individual ABS wheel speed
sensors at each of the vehicle's 4 wheels send their information to an anti-lock brake control
module. If this module sees a significant difference in the speed of one or more wheels, the ABS
system will begin pulsating the brakes to prevent a skid. Information obtained by these wheel
speed sensors can also be used in traction control systems to determine if drive wheels are
spinning on snow or ice. Electronic stability control systems can also use these sensors to apply
brake power at one or more wheels to keep the vehicle tracking straight in emergency situations.
1.4.3. Accumulator

A specially designed reservoir that serves to store pressure needed for antilock brake system
operation. A nitrogen-charged chamber is sealed off by a rubber diaphragm, and the nitrogen in
this chamber becomes pressurized as brake fluid is pumped into the accumulator by the ABS
pump.

1.4.4. Anti-Rattle Springs and Clips

Spring-loaded metal hardware pieces which mount to disc brake calipers or pads. Anti-rattle
clips provide tension necessary to prevent pad looseness that creates vibrations and rattling
noises.

1.4.5. Backing Plate

On drum brake vehicles, a backing plate is a flat metal plate inside the brake drum on which the
brake shoes, wheel cylinders, and other brake parts are mounted.

1.4.6. Bell Mouth

A condition on drum brakes where the drum expands outward at its open end. This happens
because the metal thickness of the drum has become thinner due to wear, and it's lost structural
integrity. Because the brake shoes, which are still flat across, cannot make proper contact to
create braking friction, the drum needs to be replaced.

1.4.7. Bench Bleeding

The process of bleeding air out of a master cylinder before installing it in place on the vehicle.

1.4.8. Bleeder Hose

A section of plastic hose or rubber tubing used to bleed brake fluid out of the brake system. One
end of the tube mounts over the bleeder screw on the caliper housing. When the screw is
loosened, brake fluid flows out into a container where the other end of the hose is placed. These
are often found in brake bleeder kits.

1.4.9. Bleeder Screw

A screw valve designed with a hollow center to allow fluid to be bled through it when the screw
itself is loosened with a wrench. In brake systems, bleeder screws are found on disc brake
calipers and drum brake wheel cylinders as well as on some master cylinders and ABS
modulators.

1.4.10. Bonded Brake Linings

When brake linings are attached to disc brake pads or shoes with a bonding adhesive instead of
rivets. A bonded brake shoe is on top, and a riveted shoe is on the bottom.
 CHAPTER-2

MAIN TEXT

2.1. Issues Associated With The Locked Up Wheel

2.1.1. Skidding

The whole problem of braking system is associated with wheel locking. For the problems occurs
during locking, we have to understand the principle of steering and braking.

Braking- When you press the break paddles, brake pads on the wheel disc will activated and
press against the disc and this will stop the rotation of the wheel. This causes the slippage
between the roads and wheels and the vehicle stops due to this friction.

Steering- Now let’s understand the steering mechanism. The whole steering mechanism is
dependent upon the principle of wheels rolling. The wheel will always avoid the slipping on the
road so that means the velocity of wheel at the point of contact will always be zero.

Wheels have two kinds of motion :-

 Rotational Velocity
 Translational Velocity

Wheel rotate on their own axis and and also they move along the direction of vehicle. For no-slip
rolling condition the sum of translational and rotational velocity at the point of contact should be
zero.

Now let’s analyse the steering mechanism with braking. Due to break pads being applied wheel
stops spinning. Even though driver’s intention is to take a turn, but due to wheels are in locked
condition there will be no rotational component and only translational which is acting in the
direction of motion of vehicle and so skidding of vehicle takes place.

2.1.2 Spinning

Another big issues occurs during rainy and snowy weather. At the high speed ,when brakes are
applied, there is different level of traction forces(frictional forces) between the inner and outer
wheels when one wants to take a turn to the left. These forces of different magnitude produces a
torque in the vehicle, due to which vehicle starts to spin about the vertical axis.

2.1.3 Stopping Distance

The stopping distance is a one of the important factor when it comes for braking. Stopping
distance is the function of vehicle mass, it’s initial velocity and braking force. A locked up wheel
generates a reduced braking force, smaller than the peak value of the available adhesion between
tires and road. A locked up wheel will also lose it’s capability to sustain any bilateral force. This
may result in loss of vehicle stability.

Fig.2.1. Skidding Of Vehicle

2.2 ABS Technology

As the name signifies, the anti-lock braking system is a safety system in cars and other
automobile that keeps their wheels from locking up and helps their drivers to maintain steering
control. Also referred to as anti-skid braking system sometimes, it enables the wheels of a
vehicle to maintain tractive contact with the ground so that they don’t go into an uncontrolled
skid. With ABS, you have more control on your vehicle during situations such as sudden
braking.

Basically, it is designed to help the driver maintain some steering ability and avoid skidding
while braking.

2.2.1. ABS Working Principle

The basic theory behind anti-lock brakes is simple. It prevents the wheel locking up and thus
avoiding uncontrolled skidding. This system uses the principle of cadence braking and threshold
braking. Cadence braking is a driving technique that involves pumping the break pedal and is
used to both steer and brake on a slippery surface. It is used to effect an emergency stop where
traction is limited to reduce the effect of skidding from road wheels locking up under braking.

2.3. Subsystem Of ABS

Fig.2.3.Working components of an ABS.

2.3.1 Wheel-Speed Sensor

Wheel speed sensors works on the principle of Hall Effect. Each of the ABS wheel speed sensors
detects the speed of the corresponding wheel. The sensor consists of a permanent magnet, coil
and tone wheel. The magnetic flux produced by the permanent magnet changes as each tooth of
the tone wheel (which rotates together with the wheel) passes in front of the magnet’s pole piece.
The changing magnetic flux induces voltages at a frequency corresponding to the wheel speed.

2.3.2. Electronic Control Unit (ECU)

The work of ECU is to receive, amplifies and filter the sensor signals for calculating the speed
rotation and acceleration of the vehicle. ECU also uses the speeds of two diagonally opposite
wheels to calculate an estimate for the speed of the vehicle. The slip of each wheel is obtain by
comparing the reference speed with the individual wheel. During wheel slip or wheel
acceleration condition signal server to alert the ECU. The microcomputer alert by sending the
trigger the pressure control valve of the solenoids of the pressure modulator to modulate the
brake pressure in the individual wheel brake cylinders.

The ECU reacts to a recognized defect or error by switching off the malfunctioning part of the
system or shutting down the entire ABS.

2.3.3. Hydraulic Control Unit (HCU)

The Hydraulic pressure modulator is an electro-hydraulic device for reducing, restoring and
holding the pressure of the wheel by manipulating the solenoid valve in the hydraulic brake
system. ABS hydraulic modulator unit contain the valve, solenoid and piston. Under hard
braking condition, this assembly control the holding and release of the different hydraulic brake
circuit. During the normal condition the standard braking system used.

Whenever hard braking situation occur, the system sense the change in the rotation of the speed
sensor and decide whether to hold or release pressure to a brake circuit. A tire has its best
traction just before it begin to skid, once it begins to skid a portion of traction and steering will
be lost.

2.4. Working Of ABS

When the brakes are applied by the driver, the speed sensors monitors the speed of each wheel
and determines the necessary acceleration and deceleration of the wheels. Due to the increment
and decrement of the air gap between the ton wheel( a type of gear attached with the wheel hub)
and the wire coiled magnet through which current is passing, magnetic field lines contracts and
expands and produces a signal that is transmitted to the ECU unit. ECU receives, amplifies and
filters the sensor signals for calculating the wheel rotational speed and acceleration. The signals
are then transfers to the HCU. HCU receives the signals from the ECU to apply or release the
brakes under the anti-lock conditions. It controls the brakes by increasing the hydraulic pressure
or bypassing the pedal force to reduce the braking power.

2.5 ABS Operation

While braking, if a wheel-locking situation is detected or anticipated, the ECU alerts the HCU by
sending a current and commands it to release the brake pressure, allowing the wheel velocity to
increase and the wheel slip to decrease. When the wheel velocity increases, the ECU reapplies
the brake pressure and restricts the wheel slip to a certain degree. When the braking action is
initiated, a slippage between the tire and the road surface in contact will occur, which makes the
speed of the vehicle different from that of the tire). The Hydraulic Control Unit controls the
brake pressure in each wheel cylinder based on the inputs from the system sensor. As a result,
this controls the wheel speed. This process is repeated for the next braking operation.

2.6 Importance Of ABS

2.6.1 Stopping Distance

The Stopping distance is a one of the important factor when it comes for braking. Stopping
distance is the function of vehicle mass, its initial velocity and the braking force. Stopping
distance can be minimize by increasing in braking force (keeping all other factors constant). In
all types of road surface there is always exists a peak in friction

2.6.2 Stability
The fundamental purpose of braking system is to decelerating and stopping of vehicle, maximum
friction force may not be described in some cases like asphalt and ice (p-split) surface, such that
significantly more braking force is obtainable on one side of the vehicle than on the other side.
So when applying full brake on both the sides will result yaw or skidding moment that will tend
to pull the vehicle to the high friction side and results vehicle instability. Here comes the concept
of antilock system that maintain the slip both rear wheels at the same level and minimize two
friction coefficient peaks, then lateral force is reasonably high thought not maximized. This
contributes to stability and is an objective of antilock systems.

2.6.3. Steerability

Good peak frictional force control is necessary in order to achieve satisfactory lateral forces and,
therefore, satisfactory steerability. Steerability while braking is important not only for minor
course corrections but also for the possibility of steering around an obstacle. Tire characteristics
play an important role in the braking and steering response of a vehicle. For ABS-equipped
vehicles the tire performance is of critical significance. All braking and steering forces must be
generated within the small tire contact patch between the vehicle and the road. Tire traction
forces as well as side forces can only be produced when a difference exists between the speed of
the tire circumference and the speed of the vehicle relative to the road surface. This difference is
denoted as slip. It is common to relate the tire braking force to the tire braking slip.
 CHAPTER-3

Results And Analysis

Researches have been done by various institute for evaluating the effectiveness of ABS.
Following data is taken out by the students of IIT Hyderabad for the given values of brake
torque, moment of inertia of vehicle, wheel radius etc which is illustrated in the following table:-

Gravitational constant G= 32.18 ft/s2

Initial velocity of vehicle V= 88 ft/s
Wheel radius R= 1.25 ft
Mass of vehicle M= 50 lbs
Maximum Braking Torque Tmax= 150 lbf*ft
Moment Of Inertia J= 5 ft4

Table 3.1. Input Parameters

 CONCLUSION
 It is inferred that ABS improves the braking performance.
 The stopping distance after using ABS system has considerably reduced.
 The error in slip and desired slip is used to manipulate brake pressure in brake cylinder.
With development in a technology in automobiles the braking system is getting more and more
advanced. Antilock brakes help drivers to have better control of a vehicle in some road
conditions where hard braking may be necessary. In vehicles without antilock brake systems,
drivers who encounter slippery conditions have to pump their brakes to make sure they do not
spin out of control because of locked up wheels. Antilock braking system coordinates wheel
activity with a sensor on each wheel that regulate brake pressure as necessary, so that all wheels
are operating in a similar speed range.
 REFERENCES

https://www.researchgate.net/publication/289251560

https://www.researchgate.net>publication

https://www.iith.ac.in>GroupC_ABS