Brake system modeling for simulation and control

This paper presents reduced-order models of brake system dynamics derived from a physical modeling perspective. The vacuum booster model combines a static control valve with dynamic airflows, resulting in the ability to easily reproduce both static hysteresis effects and rapid transients. Following the assumption of incompressible flow, a four-state model of the brake hydraulics is presented and, subsequently reduced to one or two states for certain 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 the literature. These models are intended for use in the design and analysis of vehicle control systems and the evaluation of driver/vehicle interactions through dynamic simulation.