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Industrial Control
Behzad Samadi
Department of Electrical EngineeringAmirkabir University of Technology
Winter 2009Tehran, Iran
Behzad Samadi (Amirkabir University) Industrial Control 1 / 86
Car Suspension
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 2 / 86
Shock Absorbers (Dampers)
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 3 / 86
Shock Absorbers (Dampers)
Single tube:
1 Atmospheric pressure
2 Valve, soft spring
3 Valve, hard spring
4 Non-return valve
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 4 / 86
Shock Absorbers (Dampers)
Twin tube:
1 Atmospheric pressure
2 Reserve chamber
3 Base valve
Advantages: Insensitive to stone throw. Tube can be adapted to fit inlocations where space is limited. This shock-absorber type is short, as thebalance chamber is next to the working cylinder.[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 5 / 86
Shock Absorbers (Dampers)
Force velocity diagram[Reimpell et al., 1995]
Behzad Samadi (Amirkabir University) Industrial Control 6 / 86
Shock Absorbers (Dampers)
Force displacement diagram[Reimpell et al., 1995]
Behzad Samadi (Amirkabir University) Industrial Control 7 / 86
Level Control System
Air suspension:
1 Air connection
2 Steel spring
3 Auxiliary air-spring element
4 Gas volume
5 Shock absorber
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 8 / 86
Level Control System
Hydropneumatic suspension:
1 Fluid supply
2 Steel spring
3 Accumulator
4 Gas volume
5 Rubber diaphragm
6 Fluid
7 Hose
8 Shock absorber
System reacts to increased vehicle speed by reducing body ride height, resulting in
fuel savings
Increase in vehicle-body ride height on poor road surfaces
Enhanced stability in curves achieved through lateral blocking of the suspension
elements on a given axle
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 9 / 86
Roll Control System
Behzad Samadi (Amirkabir University) Industrial Control 10 / 86
Semi-active Suspension System
Magnetorheological (MR) fluid:
MR damper:
lord.comBehzad Samadi (Amirkabir University) Industrial Control 11 / 86
Steering System
Rack and pinion:
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 12 / 86
Power Steering System
[Reimpell et al., 1995]Behzad Samadi (Amirkabir University) Industrial Control 13 / 86
Power Steering System
Power rack:
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 14 / 86
Power Steering System
Rotary vane pump:
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 15 / 86
Power Steering System
Electrohydraulic:
[Reimpell et al., 1995]
Behzad Samadi (Amirkabir University) Industrial Control 16 / 86
Power Steering System
Electrohydraulic:
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 17 / 86
Electric Power Steering System
delphi.com
Behzad Samadi (Amirkabir University) Industrial Control 18 / 86
Electric Power Steering System
delphi.com
Behzad Samadi (Amirkabir University) Industrial Control 19 / 86
Steer by Wire
delphi.com
Behzad Samadi (Amirkabir University) Industrial Control 20 / 86
Four Wheel Steering
delphi.com
Behzad Samadi (Amirkabir University) Industrial Control 21 / 86
Brake System
cartechservice.com
Behzad Samadi (Amirkabir University) Industrial Control 22 / 86
Vacuum Booster and Master Cylinder Assembly
[Limpert, 1992]
Behzad Samadi (Amirkabir University) Industrial Control 23 / 86
Master Cylinder
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 24 / 86
Vacuum Booster and Master Cylinder Assembly
carbibles.com
Behzad Samadi (Amirkabir University) Industrial Control 25 / 86
Dual Hydraulic Circuit
carbibles.com
Behzad Samadi (Amirkabir University) Industrial Control 26 / 86
Hydraulic Leverage
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 27 / 86
Simple Brake System
Howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 28 / 86
Brake System
Main factors affecting the overall gain:
Pedal conversion
Boost factor
Diaphragm surface area
Vacuum pressure
Surface area of master cylinder
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 29 / 86
Disk Brakes
carbibles.com
Behzad Samadi (Amirkabir University) Industrial Control 30 / 86
Drum Brakes - Single Leading Edge
carbibles.com
Behzad Samadi (Amirkabir University) Industrial Control 31 / 86
Drum Brakes - Double Leading Edge
carbibles.com
Behzad Samadi (Amirkabir University) Industrial Control 32 / 86
Diagonally Split Circuit
conti-online.com
Behzad Samadi (Amirkabir University) Industrial Control 33 / 86
Proportioning Valve
Load-sensitive brake force reducing valve:
The cut-in pressure is altered to correspond to the vehicle’s load bymeans of a mechanical device which transmits the relative movementbetween axle and vehicle body to the step-bore piston in the valve.
The force acting on the step-bore piston during braking is againmodified by the dynamic axle load transfer and thus influences thebraking force on the rear axle.
This guarantees maximum deceleration while at the same time largelypreventing locking of the rear axle and the resulting danger ofskidding.
conti-online.com
Behzad Samadi (Amirkabir University) Industrial Control 34 / 86
Proportioning Valve
centricparts.com
Behzad Samadi (Amirkabir University) Industrial Control 35 / 86
Air Brake System
Why air brakes?
Air brake systems are more tolerant to small leaks. Thesmallest leak in a hydraulic system could result in brakefailure. An air brake system includes a compressor togenerate more compressed air as needed.
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 36 / 86
Air Brake System
icbc.comBehzad Samadi (Amirkabir University) Industrial Control 37 / 86
Air Brake System
icbc.comBehzad Samadi (Amirkabir University) Industrial Control 38 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 39 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 40 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 41 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 42 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 43 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 44 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 45 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 46 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 47 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 48 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 49 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 50 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 51 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 52 / 86
Air Brake System
The compressor will continue to pump air, but all of its output willtake the path of least resistance and be vented at the line rupture.
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 53 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 54 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 55 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 56 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 57 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 58 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 59 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 60 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 61 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 62 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 63 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 64 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 65 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 66 / 86
Air Brake System
Once the supply line is connected to the trailer, there needs to be away of directing air pressure to the trailer.
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 67 / 86
Air Brake System
There are times when it may be benefi cial to apply only the trailerbrakes with out applying the tractor brakes, such as when couplingthe tractor to a trailer.
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 68 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 69 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 70 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 71 / 86
Air Brake System
icbc.com
Behzad Samadi (Amirkabir University) Industrial Control 72 / 86
Antilock Braking System (ABS)
Reduce stoppingdistance
Maintain steerablity
Maintain lateral stability
bosch.de
Behzad Samadi (Amirkabir University) Industrial Control 73 / 86
Antilock Braking System (ABS)
Maximize tire-road adhesion with wheel slip control
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 74 / 86
Antilock Braking System (ABS)
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 75 / 86
Antilock Braking System (ABS)
ABS components:
Electronic Control Unit
Hydraulic Modulator
Wheel Speed Sensors
conti-online.com and bosch.de
Behzad Samadi (Amirkabir University) Industrial Control 76 / 86
Antilock Braking System (ABS)
howstuffworks.com
Behzad Samadi (Amirkabir University) Industrial Control 77 / 86
Antilock Braking System (ABS)
ABS MK20: Samand, Peugeot, Citroen, VW,...
conti-online.com
Behzad Samadi (Amirkabir University) Industrial Control 78 / 86
Antilock Braking System (ABS)
Bosch ABS5:
Hinten (rear), Vor (front), Richtig (right), Linke (left)
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 79 / 86
Antilock Braking System (ABS)
ABS MK20:
Hinten (rear), Vor (front), Richtig (right), Linke (left)
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 80 / 86
Electronic Stability Program (ESP)
Vehicle lateral variables:
Yaw rate
Sideslip angle (β)
[Bosch, 2007]Behzad Samadi (Amirkabir University) Industrial Control 81 / 86
Electronic Stability Program (ESP)
bosch.de
Behzad Samadi (Amirkabir University) Industrial Control 82 / 86
Electronic Stability Program (ESP)
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 83 / 86
Electronic Stability Program (ESP)
ESP components:
Wheel speed sensors (A)
Steering angle sensor (B)
Combined yaw ratesensor/lateralaccelerometer (C)
Electronic Control Unit(ECU) (D)
Hydraulic unit (E)
Motor (F)
Pressure sensor (G)bosch.de and edmunds.com
Behzad Samadi (Amirkabir University) Industrial Control 84 / 86
Electronic Stability Program (ESP)
[Bosch, 2007]
Behzad Samadi (Amirkabir University) Industrial Control 85 / 86
Brake by Wire
Siemens VDO:
vdo.com
Behzad Samadi (Amirkabir University) Industrial Control 86 / 86
Bosch, R., editor (2007).Bosch Automotive Handbook.Wiley, 7 edition.
Limpert, R. (1992).Brake Design and Safety.Society of Automotive Engineers Inc.
Reimpell, J., Stoll, H., and Betzler, J. W. (1995).The Automotive Chassis: Engineering Principles.Arnold.
Behzad Samadi (Amirkabir University) Industrial Control 86 / 86
