Application of Fuzzy Logic in Antilock Braking System

*Arshdeep Singh Multani, * Rohit Yadav # Dr. S. Denis Ashok School Of Mechanical and Building Sciences, VIT University, Vellore-632014, Tamil Nadu, India arsh.multi@gmail.com , +91-7845256557 Abstract ABS is a nonlinear system which senses the wheel locking and releases the brake for the short period of time and reapplies the brake again when wheel starts to spin. It is very difficult to develop classical controller for ABS because these systems are really complex in nature. Fuzzy Logic helps in controlling these kinds of nonlinear systems. In this paper, fuzzy ABS system is designed to adjust slipping performance by taking into consideration Wheel Acceleration and Wheel Slip. This is done by means of a fuzzy estimator. The fuzzy control is shown with the help of Matlab. This fuzzy control system can effectively improve the response of the Automobile ABS and strengthen the vehicle ability to adapt to various road conditions. Keywords: Antilock Braking System, Wheel Acceleration, Wheel Slip, Fuzzy Estimator. Introduction The main disadvantage of ordinary brakes is that these brakes are imprecise and the vehicle is difficult to control. Locking of brake can be caused due to the high brake pressure applied. The wheel lockup causes instability of the vehicle. The aim of an ABS is to decelerate the vehicle in the best possible manner i.e. to minimize the braking distance while maintaining the stability. Antilock Braking System When a vehicle accelerates or brakes, tractive forces are developed by the front and rear tire respectively, which are proportional to the normal forces acting on the tire. The coefficient of proportionality, is called coefficient of adhesion. The wheel slip S is given by .. (1) V (vehicle) is determined with the help of the wheel speed sensor. Each wheel of the vehicle is equipped with the wheel speed sensor which measures the speed independently and fuzzy estimator decides which sensor is most reliable. The Vehicle Acceleration is measured by Capacitive Acceleration Sensor and the velocity of each wheel is measured with help of Inductive Sensors.

Vehicle velocity estimation is done with the help of the data preprocessing block and the fuzzy estimator block shown in following figure.

Figure 1 Estimation of Vehicle Velocity The inputs for the fuzzy estimator are decided by the data preprocessing block which consists of the lowpass filter which filters the measured signals from the wheel speed sensors. In fuzzy estimator we decide the rules on which the sensor with the most reliable and accurate data is selected for the calculation of wheel slip.

Figure 2 Input Membership function for Sensors The rule base consists of 48 rules which help to decide the reliable sensor. The reliable speed calculation can be explained for five situations: S1= {Very Slow, Slow, Medium, High, Very High} Following are shown some of the example rules. If (s1 is very_slow) and (s2 is very_slow) and (s3 is slow) and (s4 is slow) then (output1 is slow) If (s1 is medium) and (s2 is slow) and (s3 is slow) and (s4 is slow) then (output1 is slow)

If (s1 is high) and (s2 is medium) and (s3 is medium) and (s4 is medium) then (output1 is medium)

If (s1 is high) and (s2 is high) and (s3 is high) and (s4 is very_high) then (output1 is high) If (s1 is very_high) and (s2 is very_high) and (s3 is high) and (s4 is very_high) then (output1 is very_high)

The following figure shows the Output Membership function

Figure 3 Output Membership function for Sensors

Figure 3 Rule Viewer (Sensor) Now, when the speed is obtained, we can determine the wheel slip by using the formula (1) above.

Figure 4 Surface (Sensor) The Fuzzy ABS Algorithm For the ABS system to work there should be some inputs to the Fuzzy Inference System (FIS) which again controls the brake actuator and finally the pressure applied. The following flow chart shows the control of the ABS. Vehicle Acceleration Wheel Slip Wheel Speed

Fuzzy Inference System (FIS)

Wheel Acceleration

Feedback

Brake Actuator

Pressure

Figure 5 Flow Diagram of the Fuzzy ABS Controller The fuzzy controller uses two input values

Wheel slip Wheel acceleration

To fuzzify these input values, we use Mamdani Inference System. Variable Wheel Slip uses six linguistic values and variable Wheel acceleration uses five different linguistic values. Slip= {zero, very small, small, optimum, large, very large} And, acceleration= {very less, less, medium, high, very high}

Figure 6 Input Membership function for Wheel Slip

Figure 7 Input Membership function for Wheel Acceleration The rule base consists of thirty rules and all the thirty conditioned are allowed. These rules create nonlinear characteristics surface as shown below.

Figure 8 Fuzzy Characteristic Surface Using this characteristic surface, the two fuzzy input values slip and acceleration can be mapped to the fuzzy output value pressure. The labels for this value are: Pressure= {very less, less, optimum, high, very high} The optimal value is obtained by defuzzifying the linguistic variable pressure. The defuzzification process is done by Centre of Gravity method. Conclusion In this paper the application of fuzzy logic in Antilock Braking System was presented. The control algorithm for the Fuzzy ABS System consists of a non-linear characteristic surface, which was created using Fuzzy Logic. The advantage of fuzzy logic in these kinds of systems is the ability to modify parts of this characteristic surface easily; just the linguistic rules and variables need to be varied. The major disadvantage is that when we change the membership type the output also varies which is not desired. References George F. Mauer. (1995). A Fuzzy Logic Controller for an ABS Braking System, IEEE Transaction on Fuzzy System, Vol.3, No.4, pp.381-387. Roozbeh Keshmiri and Alireza Mohamad Shahri. (2007). Intelligent ABS Fuzzy Controller for Diverse Road Surfaces, World Academy of Science, Engineering and Technology 29, pp.292-297. Li Fa-zong, Hu Ru-fu, Yao Huan-xin. (2010). The Performance of Automobile Antilock Braking System Based on Fuzzy Robust Control, International Conference on Intelligent Computation Technology and Automation. pp. 870-873. Timothy J.Ross (1995), Fuzzy Logic with Engineering Applications (Ed.) McGraw Hill Publications pp. 90-98, pp. 476-480.

(*1st year M.Tech, Mechatronics, VIT University, Vellore, Tamil Nadu, India) (# Under the guidance of Associate Professor, Mechatronics Division, SMBS, VIT)