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Model-Based Condition Monitoring Using Advanced Filtering Technology

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University of Huddersfield Repository Zheng, Lin Model-based Condition Monitoring of Anti-lock Braking Systems Original Citation Zheng, Lin (2014) Model-based Condition Monitoring of Anti-lock Braking Systems. Doctoral thesis, University of Huddersfield. This version is available at http://eprints.hud.ac.uk/id/eprint/20331/ The University Repository is a digital collection of the research output of the University, available on Open Access. Copyright and Moral Rights for the items on this site are retained by the individual author and/or other copyright owners. 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For more information, including our policy and submission procedure, please contact the Repository Team at: [email protected]. http://eprints.hud.ac.uk/ Model-based Condition Monitoring of Anti-lock Braking Systems This thesis is submitted to the University of Huddersfield in Partial Fulfilment of the Requirements for the degree of Doctor of Philosophy in the School of Computing and Engineering 2014 Lin Zheng MODEL-BASED CONDITION MONITORING OF ANTI-LOCK BRAKING SYSTEMS LIST OF CONTENTS LIST OF CONTENTS .............................................................................. 2 LIST OF FIGURES .................................................................................. 9 LIST OF TABLES ................................................................................... 19 LIST OF NOMENCLATURE ............................................................... 20 ABSTRACT ............................................................................................. 24 DECLARATION ..................................................................................... 26 COPYRIGHT STATEMENT ................................................................ 27 ACKNOWLEDGEMENT...................................................................... 28 PUBLICATIONS .................................................................................... 29 CHAPTER ONE INTRODUCTION .................................................................................. 32 1.1 INTRODUCTION TO ABS RELIABILITY ................................... 33 1.2 INTRODUCTION TO CONDITION MONITORING .................... 35 1.3 INTRODUCTION TO THE MODEL-BASED APPROACH ......... 36 1.4 INTRODUCTION TO THE KALMAN FILTER ............................ 37 1.5 RESEARCH AIMS AND OBJECTIVES ........................................ 38 1.6 STRUCTURE OF THIS THESIS .................................................... 40 CHAPTER TWO LITERATURE REVIEW ....................................................................... 42 2.1 THE MODEL-BASED APPROACH FOR CONDITION DEGREE OF DOCTOR OF PHILOSOPHY (PHD) PAGE 2 OF 225 MODEL-BASED CONDITION MONITORING OF ANTI-LOCK BRAKING SYSTEMS MONITORING ...................................................................................... 43 2.1.1 Development of Model-based Methods .............................. 43 2.1.2 Basic Theory of the Model-based Approach ....................... 45 2.1.3 A General Introduction to Residual Generation in the Model-based Approach ................................................................. 49 2.1.4 Fault Modelling and Fault Testing ....................................... 51 2.1.5 Advantages of using a Model-based Approach for Condition Monitoring .................................................................................... 52 2.2 OVERVIEW OF ABS ...................................................................... 53 2.2.1 Introduction .......................................................................... 53 2.2.2 The Development of ABS .................................................... 53 2.2.3 The Basic Theory of ABS .................................................... 55 2.2.4 Technical Requirements and Evaluation Methods of ABS . 61 2.3 THE BASIC COMPOSITION AND WORKING PRINCIPLES OF ABS ........................................................................................................ 62 2.3.1 The Components of ABS ..................................................... 62 2.3.2 Working Process of ABS ..................................................... 64 2.4 THE CONTROL PRINCIPLES OF ABS ......................................... 67 2.4.1 Control Methods .................................................................. 68 2.4.2 Control Channel Layout on Vehicle Dynamics ................... 69 2.5 MODEL-BASED CONDITION MONITORING OF ABS ............. 70 2.6 SUMMARY ..................................................................................... 72 DEGREE OF DOCTOR OF PHILOSOPHY (PHD) PAGE 3 OF 225 MODEL-BASED CONDITION MONITORING OF ANTI-LOCK BRAKING SYSTEMS CHAPTER THREE THEORETICAL MODEL OF THE ANTI-LOCK BRAKING SYSTEM ............................................ 74 3.1 DYNAMIC ANALYSIS OF THE THREE STEPS OF ABS CONTROL ............................................................................................. 75 3.1.1 The Pressure Increasing Mode ............................................. 75 3.1.2 The Pressure Decreasing Mode ........................................... 79 3.1.3 The Pressure Holding Mode ................................................ 80 3.1.4 Parameter Setting for the Three Steps of the ABS .............. 82 3.2 CONTROL CYCLES OF ABS ........................................................ 82 3.3 GENERAL FAULTS OF ABS ......................................................... 85 3.3.1 Wheel Speed Sensor Failure ................................................ 85 3.3.2 Solenoid Valve Sticking or Stuck ........................................ 86 3.3.3 Fluid Leakage ...................................................................... 86 3.3.4 Pump Efficiency Loss .......................................................... 87 3.3.5 Pressure Hysteresis .............................................................. 87 3.3.6 Air Blister Inclusion in Brake Fluid .................................... 88 3.4 FRICTION COEFFICIENT CALCULATION ................................ 88 3.5 THE KALMAN FILTER FOR VELOCITY ESTIMATION ........... 90 3.5.1 The Kalman Filter Algorithm .............................................. 90 3.5.2 The Kalman Filter of Wheel Velocity .................................. 92 3.5.3 The Kalman Filter of Vehicle Velocity ................................ 93 DEGREE OF DOCTOR OF PHILOSOPHY (PHD) PAGE 4 OF 225 MODEL-BASED CONDITION MONITORING OF ANTI-LOCK BRAKING SYSTEMS 3.5.4 Parameter Adaptive Kalman Filter ...................................... 95 3.6 SUMMARY ..................................................................................... 96 CHAPTER FOUR THE SIMULATION MODEL OF THE ANTI-LOCK BRAKING SYSTEM ............................................ 98 4.1 THE ABS CONTROL MODEL ....................................................... 99 4.1.1 The Calculation Module of Slip Rate .................................. 99 4.1.2 The Dynamic Model of the Vehicle ..................................... 99 4.1.3 Friction Coefficient Calculation ........................................ 100 4.1.4 The Braking Simulation without ABS ............................... 102 4.2 THE SIMULATION MODEL WITHOUT PRESSURE-HOLDING PROCESS ............................................................................................ 102 4.3 THE SIMULATION MODEL WITH PRESSURE-HOLDING PROCESS ............................................................................................ 105 4.4 THE FAULT SIMULATION .......................................................... 110 4.4.1 Wheel Speed Sensor Failure .............................................. 110 4.4.2 Solenoid Valve Sticking or Stuck ...................................... 111 4.4.3 Fluid Leakage .................................................................... 112 4.4.4 Pump Efficiency Loss ........................................................ 113 4.5 SUMMARY ................................................................................... 114 CHAPTER FIVE SIMULATION RESULTS OF DEGREE OF DOCTOR OF PHILOSOPHY (PHD) PAGE 5 OF 225 MODEL-BASED CONDITION MONITORING OF ANTI-LOCK BRAKING SYSTEMS THE ANTI-LOCK BRAKING SYSTEM .......................................... 116 5.1 SIMULATION RESULTS WITHOUT ABS.................................. 117 5.2 SIMULATION RESULTS WITHOUT PRESSURE-HOLDING PROCESS ............................................................................................ 119 5.3 SIMULATION RESULTS WITH PRESSURE-HOLDING PROCESS ............................................................................................ 123 5.4 COMPARISON RESULTS ............................................................ 127 5.5 THE SIMULATION RESULTS WITH SPEED SENSOR FAILURE .............................................................................................................. 131 5.6 THE SIMULATION RESULTS WITH SOLENOID VALVE STICKING OR STUCK ...................................................................... 136 5.7 THE SIMULATION RESULTS WITH FLUID LEAKAGE ......... 141 5.8 THE SIMULATION RESULTS WITH PUMP EFFICIENCY LOSS .............................................................................................................
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