eABS regenerative anti-lock braking for electric motorcycles
Robinson, John M.
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This thesis studies the use of regenerative braking on the rear wheel of an electric motorcycle. The system is designed to provide an increase in performance and stability to the vehicle while braking, as well as reducing the rider control effort. This is accomplished by providing braking assistance to the rear wheel, reactive to use of the front brakes. The motorcycle response is analyzed using a simple five degree of freedom motorcycle model. The degrees of freedom are forward and vertical translation, pitch, and front/rear wheel rotation. A model for electric motor analysis is presented. Advanced filtering techniques including the Extended and Unscented Kalman filters are used to translate noisy sensor signals into an accurate approximation of vehicle states. A PID controller is implemented on the motorcycle model. Results show that braking distances can be significantly reduced for non-professional riders.