Novembe Dr. AndreSchool of Simon FraBurnaby, V5A 1S6

Re: ENSC

Dear Dr. R

Attached developinduring habetter con

This desigconcept aare prese

Cyclic TecBlair, Amiwith diffe

Should yous at cycli

Sincerely,

Cyclic Tec

Enclosure

er 6, 2008

ew Rawicz Engineering Saser UniversitBritish Colum

440 Design S

Rawicz:

with this lettng an ABS systrd braking evntrol of their

gn specificatioand productionted.

chnologies coir Tavakoli, Rarent skill sets

ou require addic‐tech@sfu.c

chnologies

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Science ty mbia

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he requiremedevelopment

dedicated, reDatis Danesh, nce which wi

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nologies Ant

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Zack ple

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Bicy

SubmDr. Andre

Mike Sjoe

School of

Simon Fra

11/06/

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mitted toew Rawicz – E

erdsma – ENS

Engineering S

aser Universit

/08

ti‐lock

o: NSC 440

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DesigSpec

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Milad Gougani

Rahm Lavon

Datis Danesh

Amir Tavakoli

Zack Blair

Contact pers

cyclic‐tech@

gn cificat

am:

son: Amir Ta

@sfu.ca

tion

avakoli

Bicycle AB

Copyright

Execut

This desigprovides jwhich weControl U

The Data achieve thcircumferbicycle whby a comp

The ECU pfrom the analyzed discussedbrake morespond athroughpthe ECU is

HCU of thalong withdetail anda pump. Tan event oto the ma

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BS Design Spe

t ©2008, Cycl

tive Summ

gn specificatiojustification f will describenit (HCU).

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performs twoData Acquisitin two sectio along with adulation. Theand process inut, and enabls lost.

he system invoh schematic od justificationThe Valve conof skidding. Oaster cylinder

h the aforembcomponentng team is deaccording to

ecification

lic Technolog

mary

on for Cyclic Tor our designe in this docum

module discusThe speed senbrake disc, anthe magnets processed by

o functions: it tion module ans: software, description oe ECU is built nformation veling it to store

olves mechanof the unit is p of the produntrols the oil fOnce the ABS to keep the b

mentioned dets is provided etermined to the Design Sp

ies

Technologies’n choices. Thement: data ac

sses the procensor consists d a stationarypass by the pthe ECU.

provides a uand controls t and electronof the digital around an Atery quickly, he configuratio

nical analysis.presented. Thuct choice is pflow in hydrasystem is in fbrake system

tail analysis oat the end ofhave a fully fpecifications,

’ ABS system e system conscquisition, Ele

edure of speeof 12 permany pickup coil pickup coil, pr

ser interface the HCU acconics. The highand analog ctmel AVR ATthaving the capon data on its

. Physical andhe componenprovided. Majulic system thfull swing the in function.

f the system,f the design sfunctional mo, by the end o

outlines the dsists of three ectronic Cont

ed measuremnent magnetsattached to troducing a se

via an LCD diordingly to pre‐level design ircuitry used iny2313 micrpability of achs on‐chip EEPR

d Mechanical nts used for thjor componenhereby reduce oil in the sys

a descriptionpecification.ock‐up modelof year 2008.

design of thegeneral subsyrol Unit (ECU

ment and coms, evenly spache bicycle fraeries of pulses

isplay, and it event wheel lof the softwain the ECU torocontroller, ehieving up to ROM memory

considerationhe HC Unit arnts of the HCUing pressure stem needs to

n of test planCyclic Techno of Bicycle AB

system and ystems, each), and Hydrau

ponents usedced around thame. As the s that are rect

acquires datalockup. The Eare platform io achieve the enabling it to 20 MIPS y even if pow

ns of the systre analyzed inU are a valve on the calipeo be pumped

s for the systologies' BS system,

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Copyright

Table o

Executive

List of Fig

List of Tab

Glossary ..

1. Intro

1.1 1.2

2. Syste

3. Over

3.1 3.2 3.3 3.4

4. Syste

4.1 4.2 4.3 4.4

5. Conc

6. Appe

7. Refe

BS Design Spe

t ©2008, Cycl

of Content

Summary ....

ures .............

bles ..............

.....................

oduction .......

Scope ..........Intended Au

em Specificat

rall System De

High level SyData AcquisiElectronic CoHydraulic Co

em Test Plan

Goals ..........Approach ....Unit Test .....Acceptance T

clusion ..........

endix ............

rences .........

ecification

lic Technolog

ts

.....................

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ions ..............

esign .............

ystem Design tion ..............ontrol Unit (Eontrol Unit (HC

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ies

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iii

....... ii

...... iv

...... iv

...... iv

....... 5

....... 5

....... 5

....... 5

....... 5

....... 6

....... 7

..... 10

..... 16

..... 20

..... 20

..... 21

..... 21

..... 29

..... 29

..... 30

..... 30

Bicycle AB

Copyright

List of

Figure 1 A

Figure 2 S

Figure 3 S

Figure 4 S

Figure 5 S

Figure 6 E

Figure 7 S

Figure 8 U

Figure 9 L

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

List of

Table 1 Sc

Table 2 EC

Glossar

ECU HCU UI

BS Design Spe

t ©2008, Cycl

Figures

ABS Subsystem

System Block

Speed Sensor

Speed Sensor

Schmitt Trigge

ECU circuit ....

System Flowc

UI Soft Key ....

LCD user inter

Controller Sc

User Interfac

HCU Schema

PETER PAUL

ETER PAUL s

Flight Works

Flight Works

working LCD

Tables

chmitt Triger

CU Key Param

ry

ecification

lic Technolog

ms ................

Diagram .......

Placement ...

Output Signa

er ..................

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hart ..............

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rface .............

chematic Diag

ce Schematic

atic ................

series 20 ‐ m

eries 20 ‐ mo

' Turbojet Fu

s' Turbojet Fu

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Circuit Param

meters ...........

Electronic CHydraulic CUser interfa

ies

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al for 12 posit

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gram .............

Diagram ......

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odel 24 Solen

del 24 Soleno

el Pump Mod

uel Pump Mod

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meters ...........

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Control UnitControl Unitace

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tion magnets

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noid Valve ‐ P

oid ‐ Characte

del 400‐B ‐ Ph

del 400‐B ‐ Ch

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eristics ..........

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Bicycle AB

Copyright

1. IntrThe Cyclicbicycles, msame prinsystem localiper utwheel loc

1.1 Sco

This docurequiremeTechnologratings. Th

1.2 Int

The desigThe desigtesting sta

2. SysThe Bicycinterferenwheel locwheels skwill actuaavoiding w

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BS Design Spe

t ©2008, Cycl

roduction

c Technologiemaking them nciple as convoks for acuteilizing a 3 wayk and minimi

ope

ment outlineent relate to gies ABS Systhese set of re

tended Au

n specification and qualityage of the AB

tem Spec

le ABS Systemnce on bicyclekup. Cyclic Tekidding througte the locallywheel lock up

n, Cyclic Teche the braking

erall Syste

re ABS systemonsists of an esensors and dthe braking p

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n

es ABS systemsafer, more rventional ABSe decelerationy valve and pzes the distan

es the design rthe functionaem[1]. Also, iequirements f

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m is a one‐of‐areliable, and S systems currn during brakeump to prevence required

requirementsal specificatioit provides inffully describe

is intended foneers should

s

d feature to thperation and oABS system went use of speydraulic Unit t

S braking sysrformance usi

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ed to be a harit, also knowndraulic controhe wheels" [2

a‐kind electromore practicarently availabe operation aent the wheeto stop in an

s that will be on outline in Fformation one the proof of

or use of Cycrefer to this

he already poonly operateswill operate ineed sensors. to reduce the

tem providesing a menu‐d

rd real‐time sn as ECU (elecol unit (HCU),].

omechanical bal than ever bble for automand regulates ls from skiddemergency.

met by the toFunctional Spn system paraf concept dev

lic Technologdocument's g

opular hydraus when there n two main stSecond, oncee pressure on

s the user witriven user int

system. The gctronic contro mainly consi

braking systebefore. This Aobiles and mthe force apping. This oper

oday's ABS anecifications fometers, compice and produ

gies membersguideline in in

ulic brakes. It is an event oteps: First, it we the skid evebrake caliper

th the ability tterface on an

general workiol unit), whicisting of the v

m used on ABS works on otorcycles. Thplied on brakration preven

nd how the deor Cyclic ponents and uction proced

s and employentegration an

has no of skidding anwill detect theent is detectedrs and thereb

to easily LCD display.

ng of the ABSh collects datvalves that

5

the he ke nts

esign

dures.

ees. nd

d e d, it by

S ta

Bicycle AB

Copyright

Hence, Cythree mai(HCU) as psubsystem

3.1 Hi

Cyclic Tecvarious sudocument

BS Design Spe

t ©2008, Cycl

yclic Technoloin subsystemspresented in ms will be pre

gh level Sy

chnologies ABubsections. Tht.

ecification

lic Technolog

ogies overall As of Data AcqFigure 1. Desesented along

ystem Des

BS system is she detail desi

ies

ABS system dquisition, Elecsign choices ag with figures

Figure 1 A

sign

ummarized aign and analy

design will be tronic Contrond detail anaand schemat

ABS Subsystems

s shown in Fisis of each su

discussed anol Unit (ECU) aalysis of subsetics.

s [1]

igure 2. The subsection will

d analyzed inand Hydraulicections for th

system has be be presente

n the context c Control Unite aforementi

een divided ind in this

6

of t oned

nto

Bicycle AB

Copyright

3.2 Da

3.2.1 S

The Cyclicsensors cothe powe

Our speedneodymiuintervals. The same

BS Design Spe

t ©2008, Cycl

ata Acquis

peed Senso

c Technologieommonly user source. Con

d sensor is coum permanen Figure 3 sho

e system is als

ecification

lic Technolog

ition

or Placeme

es' ABS speeded in industrynversely, our s

omposed of a nt magnets spows the generso used on th

ies

Figure 2 Sy

ent/Output

sensor is a loy require a curspeed sensor

stationary pipaced evenly ral configurate front whee

ystem Block Dia

t

ow‐power altrrent to run tr an actually p

ckup coil attaaround the ction of the mal.

agram

ernative to a them, which uprovide some

ached to the bcircumferenceagnets and pi

Hall Effect seunnecessarilye power for ou

bicycle framee of the disk bckup coil on t

ensor. Hall Effy puts strain our system.

e, and 12 brake at 30 dethe rear whee

7

fect on

egree el.

Bicycle AB

Copyright

As the whFigure 4). appropria

.

Measurinthe wheeto the micaccuratelyservice ro

Given an the formu

BS Design Spe

t ©2008, Cycl

heel turns, theUsing a Schm

ate for proces

g the speed ol speed sensocrocontrollery measure thoutine every t

inter‐pulse tiula,

ecification

lic Technolog

e magnets flymidt trigger stssing by the E

Figure 4 S

of each bicyclors. Every tim. Using the ine time betwetime it sees a

me of t pulse, w

ies

Figure 3 Spe

y by the pickutage, the induCU.

Speed Sensor Ou

e wheel is ace a magnet oput capture feen successiverising edge.

we can determ

eed Sensor Plac

up coil, induciuced pulses a

utput Signal for

hieved by meon the wheel feature of thee pulses from

mine the freq

cement

ng a train of pre converted

12 position mag

easuring the ppasses the pie microcontrom the pickup c

quency, at wh

pulses in the into a digital

gnets

period betweckup coil, a poller, the ECUcoil by trigger

hich the whee

pickup coil (sl signal that is

een pulses fropulse will be sU is able to vering an interru

el is spinning u

8

see s

om sent ry upt

using

Bicycle AB

Copyright

Where N

Once we wheel usi

In our sys

circumfermeasuredthe formu

3.2.2 In

As mentiosquare wabe done bas the sign

BS Design Spe

t ©2008, Cycl

is the numbe

have fspin , byng the formu

tem, we have

rence of our wd the inter‐puula,

nput Signal

oned in the prave to be proby utilizing a cnal passes the

ecification

lic Technolog

er of evenly‐sp

y knowing theula,

e 12 magnets

wheel is 26‐inulse time betw

.

l Condition

revious sectioocessed by thecomparator. Te trigger poin

ies

paced magne

e circumferen

s evenly space

ch diameter ween two pul

ning (A/D C

on, the outpue microcontroTo achieve a nt, we chose t

ets placed aro

nce of the wh

ed around the

wheels is C =2ses, t pulse, it c

Conversion

ut signal of tholler. The conmore stable sto use a Schm

ound the whe

eel, C, we can

e wheel in (

2.07 (m) Thercan calculate

)

e speed sensnversion of thswitching agamitt Trigger as

Equatio

eel.

n determine t

Equatio

(rad) increme

refore, once othe speed of

Equatio

or needs to bhe analog to dainst rapid trigs shown below

on 1

the speed of t

on 2

ents. The

our ECU has the wheel us

on 3

be converted digital signal cggering by now in Figure 5.

9

the

sing

to a can oise .

Bicycle AB

Copyright

The circuimicrocont

3.3 Ele

3.3.1 H

The ECU m

• Mp

• P

• St

Additiona

BS Design Spe

t ©2008, Cycl

it parameterstroller.

ectronic C

Hardware O

must perform

Monitor bicyclrolonged per

rovide an inte

tore configur

ally, it must do

ecification

lic Technolog

s summarized

Vref

R

R

R

V2 (upper

V2' (lower

ontrol Un

Overview

m several impo

le speed and iod when bra

eractive UI th

ation data, ev

o all of these

ies

Figure

d in Table 1 re

Table 1 Schmitt

= VCC

R1

R2

R3

r threshold)

r threshold)

it (ECU)

ortant functio

actuate the baking

hat displays b

ven when pow

things while

5 Schmitt Trigge

esults in a clea

t Triger Circuit P

ons:

brakes to prev

icycle speed a

wer is remov

consuming lit

er

an 5V square

Parameters

vent the whe

and other inf

ed

ttle power.

wave to be p

eels from slipp

ormation in r

processed by

5 V

1 KΩ

100 KΩ

100 KΩ

100 mV

0 V

ping for a

real time

10

the

Bicycle AB

Copyright

To achievas the heaMIPS throto enter lo

Below are

Below is a

BS Design Spe

t ©2008, Cycl

e these goalsart of the ECUoughput at 20ow‐power sle

e some of its k

M

a schematic s

ecification

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s, Cyclic SysteU. The Atmel 0 MHz. The EEeep modes to

key paramete

Flash

EEPROM

SRAM

Max I/O Pins

f.max

VCC(V)

howing most

ies

ms chose a pATtiny2313 hEPROM memo save power

ers:

Table 2 E

t of the ECU c

powerful modhas RISC archiory on‐chip iswhen not nee

ECU Key Parame

ircuit.

dern microconitecture and is for storing ceded [3].

eters

ntroller, the Ais able to achconfiguration

2 Kbytes

0.125 Kbytes

128 Bytes

18

20 MHz

1.8‐5. V

Atmel ATtiny2ieve up to 20data, and is a

11

2313, 0 able

Bicycle AB

Copyright

BS Design Spe

t ©2008, Cycl

ecification

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Figure 6 ECU circuit

12

Bicycle AB

Copyright

3.3.2 S

3.3.2.1

When theControl Ugeneratedmonitors speeds. Wdisks attasurface, tdeceleratresponds

Overview

3.3.2.2

Our user icharactermiddle, anpush butta "soft ke

BS Design Spe

t ©2008, Cycl

oftware de

ABS Contro

e bicycle is firsnit (ECU) powd by the encowheel speed

When a brake ched to eachhe wheel(s) wion is abrupt by rapidly op

w of the syst

User Interf

interface (UI)‐based interfnd one on theton by displayy" in that its f

ecification

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evelopment

ol

st put in motwer the systeoded generatos for any abruis applied, pr wheel, slowiwill slow dowand does notpening and clo

em operatio

face

) is centered aface. Below the right. The bying a label abfunction and

ies

t (Signal Pr

ion, the inducm and triggerors, and sendupt deceleratressure is incring the bicycln quickly, indt match the cosing valves t

on is summa

Figure 7

around an LChe LCD displaybottom row ofbove each onlabel can cha

rocessing)

ction generatr it turn on. Wd signals back tion or large dreased in the e. If one or mdicating that tcriteria storedto modulate t

rized in Figu

7 System Flowch

D display thay are three pf text on the e that is activange at runtim

tors and batteWheel speed sto ECU modudisparity betwcalipers, forc

more wheels lothey are closed in memory, the brake pre

re 7 System F

hart

t presents to ress buttons:LCD display inve. Thereforeme.

eries inside thsensors read ule which conween the froncing brake paose traction we to locking. Hthe ABS systeessure applied

Flowchart

the user a m one on the lendicates the f, each push b

he Electronic the pulses ntinuously nt and rear wds against thewith the roadHence, if a whem instantly d by the rider

enu‐driven eft, one in thfunction of eabutton repres

13

heel e d heel's

r.

e ach sents

Bicycle AB

Copyright

For instan"Select" ispush butt

Below is aboxes to iBack soft

3.3.3 O

To drive ba AAA bat

BS Design Spe

t ©2008, Cycl

nce, in the "Ms associated wtons as SK1, S

a storyboard findicate that keys results i

Output Sign

both the valvettery pack. Ac

ecification

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Main Menu" scwith the middSK2, and SK3,

for the LCD uthe screens wn scrolling do

nal Conditio

e and the pumccording to th

ies

Figur

creen, the labdle push buttorespectively.

ser interfacewithin them aown and up, r

Figure 9

oning

mp, a power Mhe control sig

re 8 UI Soft Key

bel "Back" is aon, and "Nex

. The Main Mare part of a srespectively.

LCD user interf

MOSFET will nal form the

associated wit" is associate

Menu and Conscrolling menu

face

be utilized tomicrocontrol

th the leftmoed with the ri

fig ABS Menuu, and pressin

apply 12 voltler as shown

ost push buttoight push but

u are bound ing the Next a

ts DC suppliein Figure 10.

14

on, tton.

n and

d by Due

Bicycle AB

Copyright

to the higmicro conand the p

3.3.4 U

The user iATtiny231pins are dmicrocontthe shift rselected omake the

BS Design Spe

t ©2008, Cycl

gh capacitancentroller to theump are indu

User Interfa

interface incl13 microcontdisplayed withtroller shifts oregister. Thenon the microcLCD module

ecification

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e at the inpute MOSFET. Thuctive loads s

ace Unit

udes a 20 x 2roller, through a jumper (JPout a byte intn, with E still icontroller pinaccept the by

ies

t of the powehis also reduceo fly back dio

Figure 10 Cont

Char (5 x 8 dgh 74LS164 shP1). The operto the shift reinactive, the s, while the clyte [4, 5].

er MOSFET a des the powerodes are utiliz

roller Schematic

dots) LCD modhift register. Arations start wegister. This bstate of RS/Dock line (CLK)

driving circuitr MOSFET slewzed to mitigat

c Diagram

dule which is As shown in fiwith The E (enbyte defines thS (1: Register) is not toggle

t must be usew rate. Furthete the surges.

3‐wire interfigure below Lnable pin) inahe status of pr Select / 0: Ded. Finally, E l

ed to couple termore, the v

faced to LCD connectioactive, when pin DB0‐DB7 oata Select) is ine is pulsed

15

the valve

on

of

to

Bicycle AB

Copyright

3.4 Hy

Cyclic Teccable brakpressure mcompatib

The Hydraa pump tobe contromost comconsumpt

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t ©2008, Cycl

ydraulic Co

chnologies ABking system. Tmodulation inility with ABS

aulic Control o release the olled by the Common methodtion is low, si

ecification

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F

ontrol Uni

BS System wilThe reason fon the brakingS systems in b

Unit (HCU) coexisting presontroller Circd of implemennce forcing th

ies

igure 11 User In

it (HCU)

l be implemeor this choice calipers. Moboth automob

ontains a valvsure while focuit presentednting ABS syshe fluid back t

nterface Schema

ented on a hyd is the significreover the hybile and moto

ve that disconrcing the oil bd in Figure 10stems in industo the maste

atic Diagram

draulic platfocant differencydraulic technorcycle indust

nnects the preback into the 0. Valve and pstry, and for gr cylinder can

orm rather thace in power rnology has prtries.

essure feed tomaster cylind

pump combingood reasonsn be an ongoi

an the traditiequirements roven itself fo

o the calipersder. The unit ations are thes. The power ng process du

16

onal for

or

s and will e

uring

Bicycle AB

Copyright

the entirebraking sy

3.4.1 M

As shownredundanin the eve

As can bethe valve pressure oand effectand the gbecomes the HCU tactivate im

BS Design Spe

t ©2008, Cycl

e braking cyclystem after n

Mechanical

in Figure 12 ncy allows for ent of a failure

seen in the ato the brake on the lever ttively slow doround, this wimminent. Beto disable themmediately.

ecification

lic Technolog

e. It also prevumerous bra

Design

below, the gemaximum ree.

above schemacalipers. Thisto be transmiown the wheewill eventuallyefore this situe braking actio

ies

vents the lossking cycles.

ear pump maeliability, as th

Figure 1

atic, during ns allows oil prtted to the cael. If this forcy cause the whuation occurs,on until furth

s of fluid whic

ay be taken ouhe system can

12 HCU Schema

ormal operatessure createalipers, forcine exceeds theheel to lose a, it is detecteer notice. Th

ch may comp

ut of the oil pn always fall b

tic

tion the Masted by the openg the calipere friction forcadhesion withd by the ECU is causes the

romise the in

path in normaback to norm

ter Cylinder iserator's physir to squeeze oce available bh the ground aand the comvalve and the

ntegrity of the

al operation. Tal brake oper

s connected vcal exertion oon the brake petween the tand then a lo

mmand is givee pump to

17

e

This ration

via of pads, tire ockup n to

Bicycle AB

Copyright

3.4.2 V

The valve action is roil from thmay be endecided toswitches wconsumptbattery covalve's mavalve's higthe brakevalve duri

The valve that the ecycle of thenergy co

When actfeed fromThis alternsummary

BS Design Spe

t ©2008, Cycl

Valve

is responsiblrequired to dihe cylinder toncountered po utilize the 3within about tion is low, atonsiderationsaximum opergh maximum lever to achiing these circ

is to be placeexpansion of the ABS systemonsumed by t

tivated, the vam the master cnate path is uof its charact

Figure

ecification

lic Technolog

e for disruptiisengage the o replace it. Tper second. Fo3‐way, norma10 millisecont nearly 10 was. One concerrating charactoperating preve this stateumstances.

ed in the oil pthe brake linem, and reducihe pump to r

alve accomplcylinder. Secousually closedteristics are g

e 13 PETER PAU

ies

ing the flow obrakes, sinceThis cutoff muor this reasonally open, Petnds, exceedinatts, so the mrn is that undeteristics. Howessure differee. We will run

path as close e contributes ing this decrerestore the no

ishes two funond, it providd to eliminategiven in the fo

L series 20 ‐ mo

of oil from thee merely remoust be nearly n as well as ther Paul Soleng our physica

momentary vaer extreme bwever, this situential, and thn extensive te

as possible toto the capac

eases our respormal braking

nctions simultes an alternae system hysteollowing Figur

del 24 Solenoid

e master cylinoving oil frominstantaneouhe high pressunoid Valve. Thal requiremenalve action is traking, oil preuation is extrhe amount of ests to ensure

o the brake caity of oil that ponse time, ag state.

taneously. Firte path for oieresis. An outre 13and Figu

Valve ‐ Physica

nder to the brm the calipers us, since up toure considerahis valve is smnts. In additiotolerable for essure might emely unlikeforce which me the safety a

alipers. The remust be mod

as well as the

rst, it disconnil to leave thetline of the vaure 14.

al Dimensions [6

rake calipers.allows additio 10 full ABS cations, we havmall, and typicon, power our power anrise beyond tly, due to themust exertednd behavior o

eason for thisdulated with cycle recover

ects the prese caliper. alve and a

6]

18

. This ion cycles ve cally

nd the e on of the

s is each ry

ssure

Bicycle AB

Copyright

3.4.3 P

The valve action is roil from thmay be endecided toswitches wconsumptbattery covalve's mavalve's higthe brakevalve duri

The valve that the ecycle of thenergy co

When actfeed fromalternate its charac

BS Design Spe

t ©2008, Cycl

Pump

is responsiblrequired to dihe cylinder toncountered po utilize the 3within about tion is low, atonsiderationsaximum opergh maximum lever to achiing these circ

is to be placeexpansion of the ABS systemonsumed by t

tivated, the vam the master cpath is usualteristics are g

ecification

lic Technolog

Figure 14 ETE

e for disruptiisengage the o replace it. Tper second. Fo3‐way, norma10 millisecont nearly 10 was. One concerrating charactoperating preve this stateumstances.

ed in the oil pthe brake linem, and reducihe pump to r

alve accomplcylinder. Secoly closed to egiven in the fo

ies

ER PAUL series 2

ing the flow obrakes, sinceThis cutoff muor this reasonally open, Petnds, exceedinatts, so the mrn is that undeteristics. Howessure differee. We will run

path as close e contributes ing this decrerestore the no

ishes two funond, it provideliminate systollowing Figu

20 ‐ model 24 So

of oil from thee merely remoust be nearly n as well as ther Paul Soleng our physica

momentary vaer extreme bwever, this situential, and thn extensive te

as possible toto the capac

eases our respormal braking

nctions simultes an alternaem hysteresire 15, and Fig

olenoid ‐ Charac

e master cylinoving oil frominstantaneouhe high pressunoid Valve. Thal requiremenalve action is traking, oil preuation is extrhe amount of ests to ensure

o the brake caity of oil that ponse time, ag state.

taneously. Firte path for ois. An outline gure 16.

cteristics

nder to the brm the calipers us, since up toure considerahis valve is smnts. In additiotolerable for essure might emely unlikeforce which me the safety a

alipers. The remust be mod

as well as the

rst, it disconnil to leave theof the valve a

rake calipers.allows additio 10 full ABS cations, we havmall, and typicon, power our power anrise beyond tly, due to themust exertednd behavior o

eason for thisdulated with cycle recover

ects the prese caliper. Thisand a summa

19

. This ion cycles ve cally

nd the e on of the

s is each ry

ssure s ary of

Bicycle AB

Copyright

4. Sys

4.1 Go

Through cpreventin

1. d2. w3. lo4. g5. b

BS Design Spe

t ©2008, Cycl

F

tem Test

oals

comprehensivng prolonged

ry pavemenwet pavemenoose gravel rass lack ice

ecification

lic Technolog

Figure 15 Flig

Figure 16 Flight

Plan

ve testing, wewheel lockup

t nt

ies

ght Works' Turbo

Works' Turboje

e wish to verip while stoppi

ojet Fuel Pump

et Fuel Pump Mo

fy that Cyclicing the bicycl

Model 400‐B ‐ P

odel 400‐B ‐ Cha

Systems' ABSe quickly on a

Photo[7]

aracteristics

S system is caa variety of su

apable of urfaces:

20

Bicycle AB

Copyright

We also wsystem faequipped

• su• m• su se

4.2 Ap

Unit testinsubsystemunder tessolutions for assuri

LC E W B

Integratiointegratedinsight int

Acceptancmemberstesting widemandintesting wiknowledgproduct.

4.3 Un

4.3.1 L

4.3.1.1

Steps:

1. T

BS Design Spe

t ©2008, Cycl

wish to verify ils or malfunc braking syste

udden and pmomentary loudden failurevering an e

pproach

ng will be perm. Because unt, they will befor them. Thung a quality s

CD display alectronic CoWheel speedrake actuato

on testing willd into a compto each subsy

ce testing wil, as well as soill primarily inng rides and nill be primarilge of its inner

nit Test

CD display

Home Scre

urn on the E

ecification

lic Technolog

that the systections, the brem. Some spe

permanent looss of powere of wheel selectrical con

rformed thronit testing wile able to use us, unit testinystem. Subsy

nd user intentrol Unit (E sensors or

l be performeplete system. ystem can be

l be performeome of their fnvolve using anoting any dey black‐box tworkings, an

y and User I

een Conten

ECU and atta

ies

em operates raking systemecific failure m

oss of power (e.g. becauspeed sensonnection or o

ughout the dll be performwhite‐box teng is an integrystems that w

erface ECU)

ed after all unAll membersleveraged fo

ed last; after friends and faa Cyclic Systemeficiencies or esting, wherend outsider fe

Interface

nt

ached LCD

in a fail‐safe m should contimodes and m

r (e.g becauuse if a loosers (e.g. becaotherwise re

evelopment ped by peoplesting methodral part of ouwill be individu

nit tests have s will contribur troubleshoo

all other testamily, will parms' ABS equipossible impre the systemseedback is sol

manner, meainue to work

malfunctions w

se of a battee connectionause of a rocendering the

process by the with detaileddologies to trar developmenually tested in

passed and tute to integraoting any pro

ts have passerticipate in acpped bicycle rovements ons performancicited to furth

aning that eveat least as wewe would test

ery jiggling lon) ck bouncing e sensors ino

he engineers wd knowledge ack down bugnt cycle and include:

the subsystemtion testing sblems that m

d. All Cyclic Scceptance tesfor short tripn the system.e is tested wiher identify a

en if the ABS ell as a non‐At include:

oose)

up and operable)

working on eaof the subsysgs quickly ands very import

ms have beenso that their may arise.

ystems' teamsting. Acceptaps and some Thus, acceptithout detaileany issues wit

21

ABS

ach stem d find tant

m ance

tance ed th the

Bicycle AB

Copyright

Expected

• Tth

• Oas

4.3.1.2

Steps:

1. T2. W

Expected

• TEro

4.3.1.3

Steps:

1. N2. D

Expected

BS Design Spe

t ©2008, Cycl

Result:

he "Home" she top. On the bottos shown bel

Menu Scre

urn on the EWhen at the

Result:

he "Menu" snable ABS" iow: Back, Se

Return to H

Navigate to tDon't press a

Result:

ecification

lic Technolog

screen is sho

m row, therow.

een Content

ECU and atta"Home" scre

screen is shoif ABS is disaelect, and Ne

Home Scre

he various sny keys for 1

ies

own, which s

e is a soft ke

t

ached LCD een, press th

own with theabled) shownext.

een Timeou

creens in th1 minute

shows the c

ey for "Menu

he left soft‐k

e first item (n and three

ut

e UI

urrent speed

u" and an in

key (corresp

("1. Disable Asoft key labe

d and distan

dicator that

onding to "M

ABS" if ABS iels shown o

nce travelled

ABS is enab

Menu")

is enabled on the bottom

22

d at

bled,

r "1. m

Bicycle AB

Copyright

• Aasa

4.3.1.4

Steps:

1. Rca

2. R

Expected

• T

• AB

4.3.1.5

Steps:

1. T2. N

in3. P

Expected

• VDis

BS Design Spe

t ©2008, Cycl

After 1 minututomaticallyaved.

Low Batter

un the ECU annot poweeplace or re

Result:

he "Home" s

After replacinAT!".

ABS Status

urn on the ENote the ABSndicates it's ress the soft

Result:

Verify that if Disable ABS",s "1. Enable A

ecification

lic Technolog

te of not prey. If the user

ry Indicato

with attacher the deviceecharge the b

screen show

ng or recharg

s Indicators

ECU and attaS status indicenabled, ant key labeled

the "Home", and if the "ABS".

ies

essing any ker was in the m

or

ed LCD with reliably) battery

ws a low batt

ging the bat

s

ached LCD cated on thed "!ABS OFFd "Menu"

screen show"Home" scre

eys, the UI remiddle of ed

the battery

tery indicatio

tery, the "Ho

e bottom righF!" indicates

ws "ABS", theen shows "!

eturns to thediting a field

very low (at

on "!LOW BA

ome" screen

ht corner of it's disabled

he first item ABS OFF!", t

e "Home" sc, their chang

t least 1 hou

AT!".

n does not s

the "Home"d

in the "Menthe first "Me

creen ges are not

ur before it

how "!LOW

" screen: "AB

nu" screen isenu" screen

23

BS"

"1. item

Bicycle AB

Copyright

4.3.1.6

Steps:

1. N2. V

ri3. P4. V5. W

Expected

• Ath

• A

4.3.1.7

Steps:

1. N2. V

b3. P4. V5. W

Expected

• Ath

• A

4.3.1.8

Steps:

1. N2. P3. P4. P5. P

BS Design Spe

t ©2008, Cycl

Disabling A

Navigate to tVerify that thght corner ress the "Me

Verify that thWith the first

Result:

After pressinghe device reAfter pressing

Enabling A

Navigate to tVerify that thottom right ress the "Me

Verify that thWith the first

Result:

After pressinghe device reAfter pressing

Menu Scre

Navigate to tress the "Neress the righress the "Baress the "Ba

ecification

lic Technolog

ABS

he "Home" she "Home" sc

enu" soft kehe first item t item in view

g the "Selectturns to theg the "Select

ABS

he "Home" she "Home" sccorner. enu" soft kehe first item t item in view

g the "Selectturns to theg the "Select

een Scrollin

he "Menu" sext" soft keyht‐most soft ack" soft keyack" soft key

ies

screen creen indica

ey to navigatis "1. Disablew, press the

t" soft key w "Home" scrt soft key, th

screen creen indica

ey to navigatis "1. Enablew, press the

t" soft key w "Home" scrt" soft key, t

ng

screen y until you rekey once m until you re once more

ates ABS is en

te to the "Mee ABS" "Select" sof

with the firstreen. he "Home" s

ates ABS is d

te to the "Mee ABS" "Select" sof

with the firstreen. the "Home"

each the botore. each the top

nabled by sh

enu" screen

ft key

item in the

screen show

isabled by sh

enu" screen

ft key

item in the

screen show

tom of the l

of the list

howing "ABS

"Menu" scre

s "!ABS OFF

howing "!AB

.

"Menu" scre

ws "ABS".

ist

S" on the bot

een selected

!".

BS OFF!" on t

een selected

24

ttom

d,

the

d,

Bicycle AB

Copyright

Expected

• Ex• Ex• W

p• W

"H

4.3.1.9

Steps:

1. N2. Se3. Se4. A5. P6. R

Expected

• T• T

re• A

nw

4.3.2 E

4.3.2.1

Steps:

1. In

Expected

• T• T

co

BS Design Spe

t ©2008, Cycl

Result:

xcept for thexcept for theWhen the lasressing the "

When the firsHome" scree

Configurat

Navigate to telect "Configelect "1. DelAdjust the deress "Back" epeat steps

Result:

he cursor is he "Up" andespectively. After you preumber, your

with "Select"

Electronic C

Hardware

nsert battery

Result:

he system dhe system isorrect orient

ecification

lic Technolog

e last item ine first item ist item in the"Next" soft kst item in then.

tion Param

he "Menu" sg ABS..." lay" elay up and donce you ar3‐5 for "2. A

positioned od "Down" sof

ess "Back", thr changes arand "Next"

Control Uni

Damage Im

y backwards

oes not turns not damagtation

ies

n the list, pren the list, pre list is showkey has no ee list is show

meter Editin

screen

down using te done editiAmax" and "3

on the selecft keys incre

he cursor nore preservedsoft keys, re

it (ECU)

mmunity to

s in the batte

n on ed, and doe

essing the "Nressing the "wn, the "Nexteffect. wn, the "Bac

ng

the "Up" anding the field. Vmin"

ted parametease and dec

o longer appd, and the "Uespectively.

o Source Vo

ery holder

s turn on if t

Next" soft keBack" soft kt" soft key la

k" soft key n

d "Down" so

ter number.crease the se

ears beneatUp" and "Dow

oltage Reve

the battery i

ey moves dokey moves upabel is not sh

navigates ba

oft keys

elected para

th the selectwn" soft key

ersal

is reinserted

own in the lip in the list.hown, and

ck to the

ameter,

ed parameteys are replac

d with the

25

st.

er ced

Bicycle AB

Copyright

4.3.2.2

Steps:

1. Len

2. P

Expected

• T• W

sy

4.3.2.3

Steps:

1. Usy

2. Wthb

Expected

• Ttu

4.3.2.4

Steps:

1. Cco

Expected

• Trethw

BS Design Spe

t ©2008, Cycl

Low­Powe

eave the ECUo buttons arress a butto

Result:

he system pWhen a buttoystem turns

Hardware

Use the ABS system While the bathe brakes apecause of a

Result:

he ECU shouurn off. It sh

Software R

ycle the devonnection o

Result:

he system decovers to cohe brief powwithin 0.5 sec

ecification

lic Technolog

er Mode and

U on for 10 mre pressed, bn, move the

places itself ion is pressedon again an

Under­Vol

system as th

ttery is low, pplied, simulhard brake

uld operate could not ope

Recovery fr

vice power or battery

oes not enteorrect operawer loss, it shconds.

ies

d Wakeup

minutes witbrakes are ne bicycle whe

nto a low‐pod, the bicyclend the LCD sc

ltage Opera

he battery ge

provide thelating the sit

correctly, anerate in an u

rom Interm

on and off qu

er a dangeroation. If the should autom

hout applyinot applied)eel, or apply

ower mode, e starts movcreen shows

ation

ets so low th

ECU with situation whe

nd then wheunreliable st

mittent Pow

uickly to sim

ous state andsystem does

matically rebo

ng any input

y the brakes

turning off ving, or the bs the "Home

hat it is unab

gnals indicare a user is m

en the battertate.

wer

ulate the eff

d once powes enter an unoot itself and

t to it (whee

the LCD screbrakes are a" screen.

ble to reliably

ting a lockedmoving and

ry gets too lo

fect of a loo

er is reappliendefined stad recover to

l speed is ze

een pplied, the

y power the

d up wheel wskidding

ow, it should

se power

ed, the ECU ate as a resuo a good stat

26

ro,

with

d

lt of te

Bicycle AB

Copyright

4.3.3 WWheel sperotate. Cathere, sign

4.3.4 B

The brakeapplying tlever will

The pump1/2 way p

4.3.5 In

4.3.5.1

Steps:

1. P2. R3. S4. R5. S6. R7. S

Expected

• Insk

4.3.5.2

Steps:

1. R2. A3. A

Expected

BS Design Spe

t ©2008, Cycl

Wheel spee

eed sensors wables may be nal analysis m

Brake actua

e actuators wthe brakes. If not drop unt

p will be testepoint.

ntegration

Anti­lock B

erform stepide the bicycuddenly appide the bicycuddenly appide the bicycuddenly app

Result:

n each situatkidding at a

Appropria

ide the bicycApply the froApply the fro

Result:

ecification

lic Technolog

d sensors

will be testedtethered temmay be perfor

ators

ill be tested bthe brake actil the actuato

ed by rotating

Test

Braking On

s 2‐7 for varcle at 20 kmply the rear bcle at 20 kmply the front cle at 20 kmply both the

tion, the ABSrate of 7 Hz

ate Brake M

cle at 20 kmnt brakes lignt brakes fu

ies

with the bicymporarily fromrmed to detec

by manually atuator is funcor is released.

g the wheel d

n Various Su

rious surfacem/h (or well abrakes fully

m/h (or well abrakes fully

m/h (or well afront and re

S system moor greater.

Modulated

m/h (or well aghtly and theully and the r

ycle in a statiom a wire harnct whether th

applying the cctioning prop.

uring this pro

urfaces

es: dry pavemabove the Vm

above the Vm

y above the Vm

ear brakes fu

odulates the

above the Vm

e rear brakerear brakes l

onary positioess near the he speed sens

control signalerly, the brak

ocedure and t

ment, wet pmin configure

min configure

min configureully

applied bra

min configures fully to skidlightly to skid

on and allowinsensors to a tsors are work

to the actuakes will be rel

the lever sho

avement, loed)

ed)

ed)

ke(s) to avo

ed) d the rear wd the front w

ng the wheelstest bench. Frking.

tor whilst eased and th

uld rise abov

oose gravel, g

id prolonged

wheel only wheel only

27

s to rom

e

e the

grass

d

Bicycle AB

Copyright

• Wm

• Wm

4.3.5.3

Steps:

1. R2. S3. R4. S5. R6. S

Expected• In

b

4.3.5.4

Steps:

1. In2. R3. F4. In5. R6. F

Expected

• Ab

• Ab

4.3.5.5

Steps:

1. Usy

BS Design Spe

t ©2008, Cycl

When the reamodulated. When the fromodulated.

System De

ide the bicycuddenly appide the bicycuddenly appide the bicycuddenly appd Result: n each situatelow Vmin.

System Can

n the UI, seleide the bicycully apply ean the UI, seleide the bicycully apply ea

Result:

After disablinicycle is allo

After enablinicycle is not

System Un

Use the ABS system

ecification

lic Technolog

ar brake is fu

ont brake is f

eactivation

cle at 5 km/ply the rear bcle at 5 km/ply the front cle at 5 km/ply both the

tion, the ABS

n Be Disab

ect "Menu‐>cle at 20 kmach brake seect "Menu‐>cle at 20 kmach brake se

ng the ABS sywed to skid.g the ABS syallowed to s

nder­Voltag

system as th

ies

ully applied,

fully applied

When Spee

h (or below brakes fullyh (or below brakes fullyh (or below front and re

S system sho

led and En

>Disable ABSm/h (or well aeparately, an>Enable ABS"m/h (or well aeparately, an

ystem, the b. ystem, the bskid.

ge Operatio

he battery ge

it is modula

, it is modul

ed is Less T

the Vmin con

the Vmin cony the Vmin conear brakes fu

ould not mo

abled

S" to disable above the Vm

nd then both" to re‐enababove the Vm

nd then both

brakes are no

rakes are m

on

ets so low th

ated while th

ated while t

Than Vmin

nfigured)

nfigured)

nfigured) ully

dulate the b

the ABS sysmin configureh brakes togele the ABS smin configureh brakes toge

ot modulate

odulated du

hat it is unab

he front brak

the rear brak

brakes becau

tem ed) ether ystem ed) ether

ed during a h

uring a hard

ble to reliably

ke is NOT

ke is NOT

use the spee

hard stop an

stop and the

y power the

28

ed is

d the

e

Bicycle AB

Copyright

2. Wth

3. A

Expected

• Tsk

4.3.5.6

Steps:

1. R2. S

Expected

• Tb

• T

4.3.6 A

4.3.7 G

Steps:

1. Rth

Expected

• T

5. ConThe propoto addresbegun andcircuitry. Wsystem arthe essen

BS Design Spe

t ©2008, Cycl

While the bathe Vmin confiApply both br

Result:

he ABS systekid.

UI Load Do

ide the bicyclam on the b

Result:

he ABS systerakes to prehe UI should

Acceptance

General Acc

ide the bicychrough park

Result:

he ABS syste

nclusion

osed design ss the design cd we are expeWith our comre viable and tial requirem

ecification

lic Technolog

ttery is low, igured) rakes fully

em should o

oes Not Inte

cle at 20 kmbrakes while

em should oevent a prolod not hang o

Test

ceptance Te

cle, accordins, etc)

em should m

pecifications challenges in erimenting wmprehensive sreliable. Furt

ments laid out

ies

and the ABS

operate corre

erfere with

m/h (or well ae rapidly pres

operate correonged skid.or act unexpe

ests

ng to typical

meet or exce

of Cyclic Tecour project. T

with the speedsystem test phermore, wein the propo

S system is e

ectly, modul

h ABS

above the Vm

ssing random

ectly, withou

ectedly.

usage patte

eed the users

hnologies’ ABThe actual ded sensor in palan we will m are confidensed design sp

enabled, ride

lating the br

min configurem soft key b

ut abnormal

erns (e.g. bic

s' expectatio

BS system areevelopment oarallel with vamake sure thatnt that our finpecifications d

e at 20 km/h

rakes to prev

ed) uttons on th

delay, mod

cycling aroun

ons.

e presented inof our system alve and motot all the functnal prototype document.

h (or well abo

vent a prolo

he LCD scree

ulating the

nd town,

n this documehas already or controller tionalities of omodel will sa

29

ove

nged

en

ent

our atisfy

Bicycle AB

Copyright

6. AppBelow is aprovides r

7. Ref[1] Cyclic University

[2]“Anti‐lhttp://en

[3] 8‐bit A[Accessed

[4] M. Carhttp://ww

[5] S. HeinAvailable:

[6] Peter Available:

BS Design Spe

t ©2008, Cycl

pendix

a photographriders with th

ferences

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