Brake system modeling for simulation and control

This paper presents reduced-order models of brake system dynamics derived f rom a physical modeling perspective. The vacuum booster model combines a st atic control valve with dynamic airflows, resulting in the ability to easil y reproduce both static hysteresis effects and rapid transients. Following the assumption of incompressible flow, a four-state model of the brake hydr aulics is presented and, subsequently reduced to one or two states for cert ain applications. Experimental results support the simplifying assumptions made during the modeling process by demonstrating better agreement with the response from pedal force to brake pressure than previously displayed in t he literature. These models are intended for use in the design and analysis of vehicle control systems and the evaluation of driver/vehicle interactio ns through dynamic simulation.