Anti-lock braking system modelling and parameters identification

In this paper
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, the process of obtaining a model of the laboratory Anti-Lock Brake System (ABS) is presented. In the identification process the grey-box method and data fitting technique are used. The model parameters estimation procedure is split into three steps. First, the individual wheel parameters are identified. Next, a slip friction curve between car wheel and the wheel simulating relative road motion of the car is experimentally determined. Finally the braking torque acting on the car wheel due to different control levels is estimated. The modelled simulated trajectories and real-time experiments are shown. The model has been accurately identified. It can be used to develop and verify ABS control algorithms.