The Antilock Braking System (ABS) is an important asset in the automotive industry designed to optimize braking effectiveness while maintaining car controllability by means of controlling the wheel slip. The ABS laboratory model is driven by a flat DC motor steered from a PC. There are three encoders measuring the rotational angles of two wheels and the lever angle of the car wheel suspension. At the beginning of an experiment the wheel simulating the relative road motion is accelerated to a given threshold velocity. The car wheel accelerates following the rotational motion of the “road” wheel. At the threshold a braking procedure starts. If the car wheel becomes motionless it means that it remains in slip motion (the car velocity is not equal to zero) or is absolutely stopped. The less the slip the better the car control. The tasks are as follows:
- Analysis of the system’s properties;
- Modeling of the system;
- Controller design;
- Execution of a real-time experiment and analysis of the results.