4.0.1 Specifications
4.0.2 Parameters
MB = 5350
Optimal slip = 13%, Controller Gain 20000
4.1.0 Formulation
4.1.1 Simulink Models
w/o ABS
w/ ABS
ABS Controller
4.2.0 Simulation Results for w/o ABS
Stopping Distance
Slip (to 1s)
Slip (to 2s)
Slip (to 10s)
4.2.1 Simulation Results for w/ ABS
Very strange error occurs when vehicle speed approaches 1 m/s. The wheel speed plummets (indicating it is locked) and then the slip jumps to 1 and the vehicle deceleration decreases slightly
Disabling zero cross detection also makes it so that the wheel speed overtakes the vehicle speed at one point and we get negative slip. We also observe some numerical errors
w/o zero crossing detection
w/ zero crossing detection