design specification v1 - simon fraser universitywhitmore/courses/ensc305/projects/2008/ddesi.pdfts...
TRANSCRIPT
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‐[email protected]
chnologies
e: Functional S
Science ty mbia
Specifications
er is the Desitem for bicycvents. The ABbicycles and
on outlines thon phases of d
nsists of five ahm Lavon, Ds and experie
ditional inforca.
Specifications
s: Cyclic Tech
ign Specificatcles that woulS system will avoid acciden
he requiremedevelopment
dedicated, reDatis Danesh, nce which wi
mation or wo
s for Cyclic Te
nologies Ant
tions for Cyclicld enable rideimprove ridents.
nts and goals. The specific
esourceful, anand Milad Goll help Cyclic
ould like to m
echnologies A
i‐lock Braking
c Technologieers to maintaier safety by e
s of our producation and tes
nd enthusiastougani. Our tTechnologies
eet us in pers
Anti‐lock Brak
g System (AB
es ABS Systemin more contrnabling cyclis
uct for both thst plans for in
tic engineerineam brings tos to achieve it
son, please fe
king System
BS)
m. We are rol and stop fsts to maintai
he proof‐of‐dividual mod
g students: Zogether peopts goals.
eel free to co
faster in
dules
Zack ple
ntact
Bicy
SubmDr. Andre
Mike Sjoe
School of
Simon Fra
11/06/
cle Ant
mitted toew Rawicz – E
erdsma – ENS
Engineering S
aser Universit
/08
ti‐lock
o: NSC 440
C 305
Science
ty
k Braking Sysstem
P
M
R
D
A
Z
C
c
DesigSpec
Project tea
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
Along witand its suengineeridesigned
BS Design Spe
t ©2008, Cycl
tive Summ
gn specificatiojustification f will describenit (HCU).
Acquisition mhis purpose. Trence of the bheel rotates, parator and p
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,
ii
of ulic
d to he
tified
a ECU is is
wer to
tem n and
ers in back
em
Bicycle AB
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
.....................
.....................
.....................
.....................
.....................
.....................dience ..........
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 ..................
.....................
hart ..............
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rface .............
chematic Diag
ce Schematic
atic ................
series 20 ‐ m
eries 20 ‐ mo
' Turbojet Fu
s' Turbojet Fu
....................
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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Physical Dime
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
In additiocustomize
3. Ove"The entirsystem cofrom the sregulate t
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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es ABS systemsafer, more rventional ABSe decelerationy valve and pzes the distan
es the design rthe functionaem[1]. Also, iequirements f
udience
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m is considereelectronic unidrives the hydressure for th
ies
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
n
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
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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
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t ©2008, Cycl
it parameterstroller.
ectronic C
Hardware O
must perform
Monitor bicyclrolonged per
rovide an inte
tore configur
ally, it must do
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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
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e these goalsart of the ECUoughput at 20ow‐power sle
e some of its k
M
a schematic s
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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
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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
BS Design Spe
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
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