Modelling and validation of a testing trailer for ABS and tyre interaction on rough terrain

Abstract

The main purpose of a vehicle anti-lock braking system (ABS) is to prevent the tyres from locking-up in order to brake efficiently whilst maintaining steering control and stability. Sport utility vehicles (SUV) are designed to drive on various roads under different driving conditions, making it challenging to identify optimal operating conditions for ABS algorithms to be implemented. This paper describes the development and modelling of a testing trailer that is designed to benefit the research of a SUV tyre operating in ABS braking modes on non-deformable rough terrain. The test trailer can be to investigate the variation of tyre contact forces and vibration characteristics influenced by ABS braking and rough terrain excitation. Undesirable fluctuations of wheel speed, normal force and braking moments make measurements more complicated and limits the performance of active safety systems. A trailer made from a Land Rover Defender chassis is used with standard ABS components and is implemented with a Bosch ABS algorithm for experimental tests. In addition to the ABS system the necessary measuring equipment such as Wheel Force Transducers (WFT), accelerometers, brake pressure transducers, GPS and vehicle speed measurement instrumentation is used. An Adams model of the trailer in co-simulation with ABS and test control in MATLAB/Simulink is created to validate the model. The centre of gravity position and inertia characteristics of the trailer are determined through experimental testing. A validated FTire tyre model, suitable for off-road conditions, is incorporated to accurately resemble the specific tyre used during tests. The validated Adams model and test trailer will enable further development of ABS algorithms including the identification of key parameters through which ABS braking can be optimised for various roads as well as optimizing interaction with semi-active suspension systems.