2010 Sixth International Conference on Natural Computation (ICNC 2010)

ABS System Design Based On Improved Fuzzy PID

Control
Jin-ping Li*
College of Information
Bo Lu,Yu Wang,Jing-jing Wu Beijing Union University
College of Information Beijing, P. R. China
Beijing Union University *Correspondence author
Beijing, P. R. China

AbstractAim at the simplified vehicle vertical two-wheeled adaptive is difficultly satisfied for a variety of traffic by fuzzy
model,a improved fuzzy PID controller was devoted to the Anti-lock control.
Braking System(ABS).This controller was obtained based on In this pepper, An improved fuzzy PID controller was
inosculating with fuzzy PID controller and the algorithm of designed by one way that fuzzy PID controller was combined
objective function Automatic optimization.A simulation result was with simple method of automatic optimization objective
gotten through simulation of MatLab Simulink environment.This function targets.Some problems has been solved by this method
result shows that the control system had better
such as:parameters of PID is difficulty determined,and improve
stability,adaptive,control precision and shortened the braking
distance,braking time,reduced the slip angle through using this
the flexibility in controlling.
improved fuzzy PID controller.Comparing with the conventional
PID controller,the fuzzy controller and the fuzzy PID controller,the II. THE MODEL OF MOTOR VEHICLE ANTI-LOCK BRAKING
better control effect and the control system stability could be SYSTEM
acquired by this improved fuzzy PID controller.
General vehicle model is four-wheels model[5].the model is
Keywords-Anti-lock Braking System; Improved fuzzy PID mainly used for describeing complex dynamic performance
Control; Automatic optimization;MatLab
such as the simulation turning brake and lateral dynamics
control etc.The bilinear model can be used for expressing
I. INTRODUCTION Relations between longitudinal adhesive coefficient and slip
Anti-lock Braking System is a system which reduct the ratio of motor vehicle anti-lock braking system kinetic
braking distance of vehicle and keep directional stability at the model.Its function is expressed:
same time.It has been used of all kinds of vehicle and has been
become a very important research topic.At the present time p
0 p
there are many kinds of ABS control method such as logic p
threshold control,PID control,sliding mode variable structure ( ) = (1)
g
Control,fuzzy control,ANN and so on.In practice,logic p p ( p ) p < 1
1 p
threshold control method[1] basing on experience has been
used of majority products.But it need large numbers of
experimentation for groping the control law[2,3].Finally the g
desired results is usually not found. In this function, p is peak friction coefficient, is
PID control algorithm as a traditional control method are sliding friction coefficient, p is the optimal slip ratio which is
widely used in process control widely because it has the
characteristic of small amount of calculation,good real time corresponded by peak friction coefficient.In these pepper,we
and easy to implement etc.But it has some shortcoming such as suppose that the steering angle is 0 and neglect the air
inconvenient changes,not being self-tuning[5] and so on.The resistance.In just consideration vehicle longitudinal motion
desired objectives often can not be gotten by PID control due to condition,a model of vertical two-wheeled vehicle is
object widespread uncertain factor for example nonlinear and established.As figure 1 shown that m is vehicle mass,h is height
Time-varying etc. of vehicle center of gravity from the ground, l1 , l2 are the
In recent years,fuzzy control is a hot spot which is distance from the center of gravity to the front wheels and rear
researched at home and abroad.The mathematical model is not wheels respectively. f , r are angular velocity of front
required by fuzzy control.Fuzzy control has many
characteristics such as fast response speed,small over shoot,low wheels and rear wheels respectively. J f , J r are equivalent
sensitivity about brake specific parameters,better robustness
moment of inertia that transmission coefficient of the front
and flexibility.But the performance removing The system
wheels and rear wheels are equivalent to the wheels
steady-state error is bad for ordinary fuzzy control,the control
parameter need to be determined by repeated experiments.At respectively. Fzf , Fzx , Fxf , Fxr are the load of these wheels
the same time,the requirements of Anti-lock Braking System and vertical friction between these wheels and the

978-1-4244-5961-2/10/$26.00 2010 IEEE 62

ground. T f , Tr are the braking torque that arrestor act on these x x1
x1 x2
wheels. f , r are the attachment coefficient of the front x v
v f R x x R
y= 2= = 2 3 (3)
wheels and rear wheels. R is the effective radius of one f v x 2
wheel. v r R x x R
r
2 4

v x2

Wheel slip ratio should be preserved near the best

expectations slip ratio point S0 for basing on fuzzy PID
controller design of the vehicle anti-lock braking system of slip
rate control. In this pepper,the optimal slip ratio values is
20%.Errors is defined as E = S S0 .The rate of change of errors
is defined as Ec = (Ek Ek 1 ) / T .In this equation, T is sampling
a interval. E and Ec is the output of the system.Control variables
U is brake system pressure.It is the output variable and decide
m measurement of braking torque.The slip ratio controller is
g h

typical dual-input single-output system.

h
f +J + J III. FUZZY PID CONTROLLER
Fxf f
Fxr r r

A. The structure of fuzzy PID controller

l1 l2 With the developing of the computer science, the
adjustments experience of operating staff is stored into the
l computer as the knowledge using the method of artificial
intelligence by some people.The PID parameters could be auto-
regulate by the computer according to the actual situation in the
Figure 1. two-wheeled vehicle brake model scene.Intelligent PID Controller is created by this way.This
kind of controller is that classical PID control combine with
The forward direction of vehicle is chosen as the forward advanced expert system for realizing the optimal control of
system.In this control system,the Object model must be
direction of the ground braking force Fx ,vehicle shift x ,speed determined accurately.Firstly,the long-term practical empirical
v ,accelerated velocity a ,counter-clockwise is the forward knowledge of operator(specialist) is modeled by control
rules.And then,the PID parameters can be realized optimal
direction of vehicle wheels angular velocity f , r .In this
adjustment through fuzzy reasoning.As the experience of
pepper,we suppose that these equation set as follow operator is not easy to describe,the kinds of semaphores and
x1 = x , x2 = x1 , x3 = f , x4 = r .The state-space equation evaluating indicator are hardly quantified either,the fuzzy
theory is efficient path to solve these problems.A basic control
is obtained ,of which vehicle braking as follow. theory and method of fuzzy mathematic.In this control
theory,the conditions of the rules and operation are expressed
by fuzzy sets,and these fuzzy control rules, as well as relevant
x1 = x2 informations(such as evaluating indicator,the initial PID
f l2 + r l1 parameters and so on) as knowledge are stored into computer
x2 = h h l l g knowledge database.Then,the The best adjustment of PID
f r 1 2
parameters are auto-regulated by fuzzy reasoning according to
1 f mR (2)
x3 = J l + l ( gl2 x ) T f the actual response of control system(expert system input
f 1 2 conditions).This is the fuzzy adaptive PID control.
1 r mR
x4 = ( gl1 x ) Tr
In the fuzzy PID controller,error E and error rate of
J r l1 + l2
change Ec is the input of the system.By this way,the request
Output equation:
of PID parameter tuning by e and ec at different time is
satisfied.Then,the PID parameter can be altered by fuzzy
control rule on line.A adaptive fuzzy PID controller is
constituted by this method.As the figure 2 shown that it is the
structure of adaptive fuzzy PID controller.

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 approaches zero more control policy and ensuring fine
control.The variation range of output k p , k I , k d are defined as
Fuzzy
Reasoning [0,150] , [0 ,3 ] , [0,12 ] , their fuzzy linguistic variable are
Zero(Z),Small(S),Middle(M),Big(B),their universe of discourse
kp k i kd are [0,2,4,6] .
In e
Out C. The establishment of fuzzy vector table
PID object
de Regulator Fuzzy control rule table of turning the three parameters
dt k p , k I , k d are created by summarizing technical knowledge
and actual operation experience of project planner respectively.
As table 2,3,4 shown that they are the fuzzy control rule table
Figure 2. the structure of adaptive fuzzy PID controller of these three parameters.

The adaptive fuzzy PID controller consists of two parts:the

one is conventional PID control,the other is calibration TABLE I. kp FUZZY CONTROL RULE TABLE
parameters of fuzzy inference.The position-description of
conventional discrete PID controller is: EC
k E NB
N
NS ZE PS PM PB
u ( k ) = K p E (k ) + K i E (i ) + K d Ec (k )
M
( 4) NB B B B B B Z Z
i =0
NM B M M S S Z Z
k NS M M S Z S S S
In these equation, E(k) , E(i) , E (i) are the systematic
i=0
c
ZE
PS
M
S
S
S
Z
S
Z
Z
Z
S
S
M
M
M
PM S Z S S M M B
bias,the sum of bias and deviation of the rate of change PB Z Z B B B B B
respectively. K p , K i , K d are the proportionality control
coefficient,integral control coefficient and differential control TABLE II. ki FUZZY CONTROL RULE TABLE
coefficient.
The parameters are adjust by fuzzy PID control which EC
based on PID algorithm,calculated the current system error E NB NM NS ZE PS PM PB
E ,error rate of change Ec ,carried on the fuzzy reasoning and NB Z Z Z Z Z Z Z
NM S S Z Z Z M M
Inquired the fuzzy matrix table.
NS M B M B B S S
ZE B B B B B B B
B. Determination of membership function PS M B M B B M M
PM S S Z Z Z S S
Fuzzy PID ABS controller choose that the input PB Z Z Z Z Z Z Z
parameters are the slip ratio error E and error change rate of
slip rate Ec ,the output parameter is braking torque increment TABLE III. kd FUZZY CONTROL RULE TABLE
U .Input linguistic variables of fuzzy controller is the slip
ratio error E ,the output linguistic variables model are the EC
k p , k I , k d .The triangular function of the higher sensitivity is E NB
N
NS ZE PS PM PB
M
adopted as the membership function of input E , Ec and their NB S M B B B M S
NM M M B B B M M
variable level is 7.The same as the input,The triangular NS Z S S S S S Z
function of the higher sensitivity is chosen as output ZE Z Z S Z S Z Z
k p , k I , k d else and their variable level is 4.We define PS Z S S S S S Z
PM M M B B B M M
variation range of the input E , Ec are [ 0.1,0.1] , [ 10,10] PB S M B B B M S

respectively.The fuzzy linguistic variables are Negative Big
(NB), Negative Medium(NM), Negative Small(NS),Zero(ZE),
Positive Small(PS), Positive Middle(PM), Positive Big(PB)
respectively.The universe of discourse are [ 6,3,1,0,1,3,6]
and [ 6,4,2,0,2,4,6] respectively.In this pepper,the Non-
uniform universe of discourse is adopted for realizing more
D. Improvement of Fuzzy PID Control
In the ABS system,the fuzzy PID control is improved for
choosing appropriate proportional, integral and differential
coefficient,curtailing excessive response time,increasing the
regulation accuracy and making that the system has steering
sensitivity and control stability.It is difficult to get optimum

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efficiency according to the fuzzy PID control of the expert TABLE IV. THE PERFORMANCE COMPARISON OF TWO KINDS OF CONTROL
experiences formulates.Hence,in this pepper,a Improved METHODS
algorithm is proposed.This algorithm is that fuzzy PID control
combine with the Simple Method of automatic optimization The average Maximum direction
objective function targets.The best performance index of braking Track
slip angle

deviation(m)
acceleration( m / s 2 )
adaptive systems J [e(t )] = t e(t ) dt is selected to optimize
( )

0
normal
-8.1 0.88 -16.45
braking
these dynamic performance indicators for objective
fuzzy PID -9.0 0.63 -13.27
function.The systematic error e (t ) and error rate of change
improved
-9.8 0.52 -12.39
ec (t) fuzzy PID
(in this pepper,systematic error e(t ) is the slip ratio error
As track deviation performance indicators of table 4 shown
E and error rate of change ec (t ) is error change rate of slip that the distance of the deviating from the orbit is the smallest
rate EC )are considered at the same time, by improved fuzzy PID control.It is proved that the ability of
keeping turning sharply the orbit is better than other

[ ]
J[e(t)] = t k1e2 (t) + k2e2 (t) dt is chosen.The k p , k I , k d are
controll.That is very important performance indicators in the
vehicle turning.As performance indicators of maximum
0 direction slip angle shown that the maximum direction slip
defined as global variable on the basis of fuzzy PID on-line angle of improved fuzzy PID control is the smallest.Although
tuning parameter.And then, k p , k I , k d are optimized by using there is still some error for keeping the quondam wheel-
optimization problems solving function 'fmisearch' and Simple path,this way can be helpful to keep the vehicle relatively
Method. stable on sharp turn for other control methods.

IV. SIMULATION ALGORITHM

By simulation model analysis,the slipping rate dynamic
response of vertical two-wheeled vehicle model can be
obtained.As figure 3 shown that they are the simulation
comparing results of the slipping rate dynamic response of
normal braking,adding fuzzy PID controller and adding the
improved fuzzy PID controller .
V. CONCLUSION
As the simulation shown that the control precision and
robustness of control system are enhanced and the three PID
parameters are kept at the ideal value by this ways that the
input parameters are slip ratio error E ,slip rate of error change
rate and the PID parameters are optimize by using the methods
of Objective optimization.So the ability of improved fuzzy PID
control is better and is more appropriate for the braking of
sharp turning than other control methods in field of braking
efficiency,keeping the ability of sharp turning.
VI. REFERENCE

[1] CHIH-MIN LIN,CHUN-FEI HSU,Self-learning Fuzzy Sliding-Mode

(a) normal braking (b)fuzzy PID controller (c)improved fuzzy PID controller
[2]
Figure 3. They are the simulation comparing results of the slipping rate
dynamic response of the three control methods
[3]
As simulation curve shown that the vehicle wheels hug
rapidly and the wheel slip ratio get 100% for normal
braking.But the hugging phenomenon is never appeared and
the slip rate is kept near the expectations slip point 0.2 for
[4]
adding the improved fuzzy PID controller.As the ideal ABS
control figure 3(c) shown:it is proved that the braking
distance and the braking time are decreased by the ABS of
adding improved fuzzy PID controller. [5]
The following table is for showing the performance
comparison of three kinds of control methods.
Control for Anti-lock Braking System.IEEE.Transaction on Control
System,2003,11,273-278
Xie Long, Chen Jia-qi. Four-wheel vehicle model and simulation
forABS application with Matlab/ Simulink. J . University of Shanghai
for Science and Technology. 2004,26(2):164~167.
D. PENG, Y. ZHANG, C.-L. YIN, and J.-W. ZHANG, COMBINED
CONTROL OF A REGENERATIVE BRAKING AND ANTI-LOCK
BRAKING SYSTEM FOR HYBRID ELECTRIC
VEHICLES ,International Journal of Automotive Technology, Vol. 9,
No. 6, pp.749-757 (2008).
Li Yushan, Zeng Qingliang, Wang Liang, and Han Yilun, A
ControlStrategy for Regenerative Braking of Parallel Hybrid Electric
City-Bus, 7th International Symposium on Test and Measurement,
Vol.6,pp. 5659-5662 (2007).
Geng Cong, Liu li, Zhang Xin, and Zhang Liang,A Study on
ControlStrategy for Regenerative Braking in EQ6ll0 Hybrid
ElectricVehicle, Automotive Engineering, China, Vol. 26, No. 3,
pp.253-256, 2004.

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