Development of a bicycle anti-lock braking system prototype / Bisikletlerde Kaymayı Önleyici Fren Sistemi Prototipi Geliştirilmesi
Abstract
In order to satisfy the increasing need for security and comfort the active safety systems of the smaller vehicles like the motorbikes, scooters, e-bikes and bicycles have an intensively studied research topic over the last decade. This paper describes the development of a hydraulic type anti-lock braking system (ABS) prototype for bicycle applications. Based on vehicle dynamics of bicycles, a mechanical model has been built and a novel ABS control algorithm has been designed. This algorithm is based on a newly developed reference speed calculation method which uses the angular acceleration values of the wheels. The proper operation of the algorithm has been proved through simulations and based on the results a prototype has been built. In the prototype system the algorithm has been implemented on an external controller module which involves a Continental-developed motorbike hydraulic electronic control unit. The functionality of the prototype system has been verified on a test track in several real road surface conditions such as dry and wet asphalt, grassy ground and dirt road.
Özet: Artan güvenlik ve konfor ihtiyacını karşılamak için motorsiklet, scooter, elektrikli bisiklet ve bisiklet gibi küçük araçlardaki aktif güvenlik sistemleri üzerine yapılan çalışmalar son on yılda yoğun olarak çalışılan konular arasındadır. Bu çalışma bisiklet uygulaması için hidrolik tip ABS fren sistemi prototipi geliştirilmesini açıklamaktadır. Bisiklet taşıt dinamikleri temel alınarak mekanik bir model geliştirilmiş ve yeni bir ABS control algoritması tasarlanmıştır. Bu algoritma tekerleklerin açısal ivme değerlerini kullanan yeni geliştirilmiş referans hızı hesaplama yöntemine dayanmaktadır. Algoritmanın sağlıklı çalışması simülasyonlar ile doğrulanmış ve bu sonuçlara göre bir prototip geliştirilmiştir. Prototip sisteminin algoritması Continental tarafından geliştirilen motosiklet hidrolik elektronik kontrol ünitesi içeren bir dış denetleyici modülünde uygulamaya konulmuştur. Prototip sistemin işlevselliği kuru ve ıslak asfalt, otsu zemin ve toprak yol gibi birçok gerçek yol yüzeyinde test edilmiştir.
Keywords
Safety Systems; Vehicle Dynamics; Bicycle; Anti-lock Braking System / Güvenlik sistemi Taşıt dinamikleri Bisiklet Kaymayı önleyici fren sistemi
References
- Dr. Peter E. Rieth, Stefan A. Drumm, Michael Harnishfeger, “Electronic Stability Program: The brake that steers”, Landsberg/Lech: Verlagmoderne industrie, 2002.
- U.S. Department of Transportation, “Traffic Safety Facts 2009: A Compilation of Motor Vehicle Crash Data from the Fatality Analysis Reporting System and the General Estimates System”, National Highway Traffic Safety Administration, 2010.
- Robert Bauer, Monica Steiner, “Injuries in the European Union: Statistics Summary 2005 – 2007.”, Kuratorium für Verkehrssicherheit (KfV, Austrian Road Safety Board), 2009.
- SWOV, “Bicycle helmets”, SWOV, 2012.
- Winck, R., Marek, K., and Ngoo, C, “Active Anti-lock Brake System for Low Powered Vehicles Using Cable-Type Brakes”, SAE paper, 2010.
- Astrom KJ, Klein RE, Lennartsson A, “Bicycle Dynamics and Control: adapted bicycles for education and research”, IEEE Control Systems Magazine, vol. 25, no. 4, pp. 26-47., 2005.
- Limebeer DJN, Sharp RS, “Bicycles, motorcycles, and models”, IEEE Control Systems Magazine, vol. 26, no. 5, pp. 34-61., 2006.
- Cerone V, Andreo D, Larsson M, Regruto D, “Stabilization of a Riderless Bicycle”, IEEE Control Systems Magazine, vol. 30, no. 5, pp. 23-31., 2010.
- Frezza, Ruggero, Beghi, Alessandro, “A virtual motorcycle driver for closed-loop simulation”, IEEE Control Systems Magazine, vol. 26, no. 5, pp 62-77., 2006.
Abstract
References
- Dr. Peter E. Rieth, Stefan A. Drumm, Michael Harnishfeger, “Electronic Stability Program: The brake that steers”, Landsberg/Lech: Verlagmoderne industrie, 2002.
- U.S. Department of Transportation, “Traffic Safety Facts 2009: A Compilation of Motor Vehicle Crash Data from the Fatality Analysis Reporting System and the General Estimates System”, National Highway Traffic Safety Administration, 2010.
- Robert Bauer, Monica Steiner, “Injuries in the European Union: Statistics Summary 2005 – 2007.”, Kuratorium für Verkehrssicherheit (KfV, Austrian Road Safety Board), 2009.
- SWOV, “Bicycle helmets”, SWOV, 2012.
- Winck, R., Marek, K., and Ngoo, C, “Active Anti-lock Brake System for Low Powered Vehicles Using Cable-Type Brakes”, SAE paper, 2010.
- Astrom KJ, Klein RE, Lennartsson A, “Bicycle Dynamics and Control: adapted bicycles for education and research”, IEEE Control Systems Magazine, vol. 25, no. 4, pp. 26-47., 2005.
- Limebeer DJN, Sharp RS, “Bicycles, motorcycles, and models”, IEEE Control Systems Magazine, vol. 26, no. 5, pp. 34-61., 2006.
- Cerone V, Andreo D, Larsson M, Regruto D, “Stabilization of a Riderless Bicycle”, IEEE Control Systems Magazine, vol. 30, no. 5, pp. 23-31., 2010.
- Frezza, Ruggero, Beghi, Alessandro, “A virtual motorcycle driver for closed-loop simulation”, IEEE Control Systems Magazine, vol. 26, no. 5, pp 62-77., 2006.
Details
| Primary Language | English |
|---|---|
| Journal Section | Article |
| Authors | |
| Publication Date | March 25, 2014 |
| Submission Date | March 25, 2014 |
| Published in Issue | Year 2014 Volume: 3 Issue: 3 |