An investigation of calculation method of wheel angular acceleration in anti-lock braking system

The accurate and real-time calculation of wheel angular acceleration is the premise for anti-lock braking system based on logical threshold or slip ratio. Nowadays, main methods used to approximately calculate the wheel angular acceleration are Euler-method (the first order differential approximation method), differential filtering method and Kalman filtering method. On the basis of considering the performance of the algorithm such as noise attenuation, control delay, accuracy and reliability of estimation and calculation complexity, a calculation method of wheel acceleration by FIR filter is presented, which is based on the analysis of the methodspsila feasibility. We can get the filter coefficients and filter length on the condition of the minimal error variance and the maximal estimation accuracy. Results show that this method is stable, reliable and with short delay.