Research Article
Dynamic Control Applied to a Laboratory Antilock Braking System
Table 1
Coefficients and system variables, for the ABS Laboratory setup.
| | Angular velocity of the upper wheel | rad/s | | Angular velocity of the lower wheel | rad/s | | Braking torque | N m | | Radius of the upper wheel | 0.0995 m | | Radius of the lower wheel | 0.0990 m | | Upper wheel inertia moment | 7.54 × 10−3 Kg m2 | | Lower wheel inertia moment | 25.6 × 10−3 Kg m2 | | Upper wheel viscous friction coefficient | 118.74 × 10−6 Kg m2/s | | Lower wheel viscous friction coefficient | 214.68 × 10−6 Kg m2/s | | Friction coefficient between wheels | 1 | | Static friction of the upper wheel | 0.0032 N m | | Static friction of the lower wheel | 0.0925 N m | | Constant | 15.24 | | Constant | −6.21 | | Constant | 20.37 s−1 | | Constant | 0.415 | | Control input | | | Peak value | 23 | | Shape factor | 1.68 | | Stiffness factor | 28 | | Observer gain | 21 | | Observer gain | 140 | | Observer gain | 40 | | Controller gain | 19 | | Controller gain | 32 |
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