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Procedia Engineering 00 (2017)000–000
www.elsevier.com/locate/procedia
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Procedia Engineering 00 (2017)000–000
www.elsevier.com/locate/procedia
Procedia Engineering 206 (2017) 1570–1576

International Conference on Industrial Engineering, ICIE 2017

International Conference on Industrial Engineering, ICIE 2017
Differential Braking Device
Differential Braking Device
V.A. Ryzhikov*, D.Y. Batyshchev
V.A. Ryzhikov*, D.Y. Batyshchev
Don state technical university, 1, Gagarin Square, Rostov on Don, 344010, Russia
Don state technical university, 1, Gagarin Square, Rostov on Don, 344010, Russia

Abstract
Abstract
The principle of stabilizing brake efforts by means of differential mechanisms on car wheels is pointed out in the article. The
proposed solution
The principle provides identical
of stabilizing braking
brake efforts efforts of
by means ondifferential
car wheelsmechanisms
at various car
on braking modes.
car wheels The principle
is pointed of article.
out in the distributing
The
power streams among hydro machine differentials is the basis for the kinematic scheme creation. The design
proposed solution provides identical braking efforts on car wheels at various car braking modes. The principle of distributing of a car brake
system is considered.
power streams among Thehydromathematical model of differential
machine differentials is the basiscar
forbraking system and
the kinematic the results
scheme creation.of The
its computer
design ofmodeling by
a car brake
means of
system is MathCad
considered. areThe
given. Using the model
mathematical results of
of differential
mathematical caranalyses, the parameters
braking system and the of a braking
results of its system
computer aremodeling
determined.
by
Selecting
means of optimal
MathCad parameters
are given.ofUsing
braking
thesystem
resultsisofpossible taking into
mathematical account
analyses, theminimizing
parametersdynamic loadings
of a braking in itsare
system elements.
determined.
© 2017 The
Selecting Authors.
optimal Published
parameters of by Elsevier
braking B.V.is possible taking into account minimizing dynamic loadings in its elements.
system
© 2017 The
Peer-review Authors.
under Published
responsibility by
of Elsevier
the Ltd.
scientific
© 2017 The Authors.
Peer-review under Published by
responsibility of Elsevier B.V. committee
the scientific committee
of the International Conference on Industrial Engineering.
of the International Conference on Industrial Engineering
Keywords: brake; differential; car; dynamic; mathematical;
Peer-review under responsibility of the scientific committee model; analysis.
of the International Conference on Industrial Engineering.
Keywords: brake; differential; car; dynamic; mathematical; model; analysis.

1. Introduction
1. Introduction
The car braking system is one of the basic systems which is responsible for vehicle safety. The car braking
system consists
The car brakingof braking
system ismechanism
one of theand braking
basic systems drive. There
which are some kinds
is responsible of braking
for vehicle safety.systems:
The carworking,
braking
parking, auxiliaryofand
system consists spare ones.
braking mechanism and braking drive. There are some kinds of braking systems: working,
Nowadays
parking, various
auxiliary and designs of braking system drives are used: mechanical brake drive, hydraulic drive, pneumatic
spare ones.
andNowadays
electric airvarious
drive of braking
designs ofmechanisms.
braking system Frictional
drives arebrakes
used:aremechanical
the most popular brakeshydraulic
brake drive, as the process
drive, of braking
pneumatic
is
andcarried
electricout
airatdrive
the of
expense
brakingofmechanisms.
friction forces arising brakes
Frictional betweenaremotionless and mobile
the most popular brakesrotating details of
as the process which are
braking
widely used
is carried outinatmodern cars. Inofa friction
the expense disk brake somearising
forces friction forces appear
between on the
motionless side
and surface
mobile of rotating
rotating disk
details and inarea
which
drum they
widely usedappear on thecars.
in modern internal
In a surface of asome
disk brake rotating drum.forces appear on the side surface of rotating disk and in a
friction
To they
drum ensure steady
appear movement
on the when braking,
internal surface it isdrum.
of a rotating necessary to observe equality of braking moments. [1-18].
However paying
To ensure attention
steady to the fact
movement whenthat frictionitforce
braking, has a variable
is necessary value, this
to observe equality
equality is not carried
of braking out. It[1-18].
moments. leads
However paying attention to the fact that friction force has a variable value, this equality is not carried out. It leads

* Corresponding author. Tel.: +7-919-871-2664;

E-mail address:author.
* Corresponding [email protected]
Tel.: +7-919-871-2664;
E-mail address: [email protected]
1877-7058 © 2017 The Authors. Published by Elsevier B.V.
Peer-review under responsibility of the scientific committee of the International Conference on Industrial Engineering .
1877-7058 © 2017 The Authors. Published by Elsevier B.V.
Peer-review under responsibility of the scientific committee of the International Conference on Industrial Engineering .

1877-7058 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the scientific committee of the International Conference on Industrial Engineering.
10.1016/j.proeng.2017.10.679
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2 V.A. Ryzhikov , D.Y. Batyshchev / Procedia Engineering 00 (2017) 000–000

to emergency of additional dynamic loadings having oscillatory character [1-2;9-10]. Unequal braking torques can
appear in case the wheels are connected by dirty brake shoes; if they have different degree of wear on frictional
surface; if inaccurate installation and adjustments have been done. Additional dynamic loadings reduce reliability of
car knots and units in general [6-10,11-15].

2. Differential brake mechanism

To increase the efficiency of a car braking system a differential brake device based on a volume hydraulic
actuator was carried out. [3,16]. So, (Fig. 1) hydro kinematic scheme of the braking car system with differential
brake device for a wheel is shown. Other wheels are equipped with similar braking system. Pressure heads of
hydraulic pumps are connected in parallel lines forming hydraulic differential [17].

Fig. 1. Hydro kinematic scheme of brake system with differential brake mechanism

The standard system of car braking is used by means of pressing brake shoes with minimum effort. For these
purposes hydro accumulator is adjusted in the regular hydraulic system of cars at minimum pressure at about 0.1 –
0.15 МPa when rollers do not slip with loadings.
During braking moment the pedal is usually pressed by means of regular system position of clamping pads which
are connected to braking drum and pressed to it at a certain effort providing frictional contact. Rollers begin to rotate
and transfer rotary motion to a shaft of hydraulic pumps. Working liquid from oil tank is supplied to an adjustable
hydro throttle, creating some pressure in pressure lines of hydraulic pumps. On the shafts of hydraulic pumps a
braking torque appears it is transmitted through toothed gears to the rollers of clamping pads. Using the pedal it is
possible to regulate braking torque, changing passage section of hydro throttle. The existence of tight feedback
pressure allows the shoe brake to provide automatic alignment of braking torques on clamping pads of all car
wheels.
When wheels are blocked during braking process the signal from sensor of a wheel rotary frequency is
transmitted to ABS control package and the impact from it influences a hydraulic valve with electromagnetic
control. The hydraulic valve connects pressure relief valve with a pressure head adjusted to a certain pressure of
working liquid corresponding to the maximum braking torques. The pressure of the system falls to the value
established by a pressure relief valve, reducing braking torque and unblocking wheels. The terminal switch turns on
stoplights.
The design of a braking system is based on main details of a car shoe brake and shield, with established working
cylinder, top and lower springs and, a guiding plate, basic racks and a cable of a parking brake (Fig.2).
1572 V.A. ,Ryzhikov
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Fig. 2. Differential brake gear

Brake shoes and with holes for installing a driving roller and a driven roller are fixed on a resistant shield with
the help of tightening levers. Then spacer strap is situated between tightening levers. The rollers shifts are
cinematically connected by gear wheels. To ensure the process of moving rollers in one direction parasitic gears are
installed between toothed gears of rollers. Shafts of driving rollers are connected to output shafts of hydraulic pumps
by clutches. Hydraulic pumps are fixed on a resistant shield.

3. Mathematical model

The basic masses in the system are consisted of the hydraulic pumps masses and the car mass. In accordance to it
a car with a system of braking can be presented in the form of a three - mass system with generalized coordinates X1,
X2, X3 [18].
Where: X1-generalized coordinate of specified car mass, X2, X3 – generalized coordinates of specified hydraulic
pumps mass.
The mass of the car is supposed to be a link. To develop mathematical model of car braking system the following
assumption were adopted:
The system has stationary bilateral connection;
Dissipating energy in the knots of vibration damping is absent;
Elements of the system have constant mass;
Clearance and backlashes are absent;
Elastic properties of shafts and half shafts are considered. Other elements are supposed to be stiff.

A given calculated scheme of braking system is (Fig. 3).

Fig. 3. A calculated scheme of braking system

Kinetic energy is equal:

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2 2 2
m1    m2    m3   
T   X1    X2    X3  (1)
2   2   2  

m1 – a car mass is specified to a wheel shaft;

m2, m3 – the mass of the first and second hydraulic pumps correspondently are specified to a wheel shaft.
Potential energy of a system:

1 1
CT  X 1  X 2   CT  X 1  X 3  ,
2 2
G
 (2)
2 2

CT – given stiffness of shaft and rollers.

Given moments of hydraulic pumps inertia will be equal:

Jr  i2  Jr  nр
m 2=m3= , (3)
R2r

Rr – roller radius;
Jr – moment of rollers’ inertia;
nр – the number of rollers;
i – reduction ratio of toothed gearing.
Having taken into account accepted assumptions the operation of brake device is described by means of
differential equation systems by Lagrange of the second kind which is expressed as:

m1  X 1  CT ( X 1  X 2 )  CT ( X 1  X 3 ) 
 FB

m2  X 2  CT ( X 1  X 2 )   FT  FCT , (4)
m3  X  C ( X  X )   FT  FCT
 3 T 1 3

FB – resistance force of air;

FCT –resistance force of a car;
FT – braking force on a car wheel.
The braking force on a car wheel will be equal:

Р  q  RТ  i
FT  , (5)
2   Rr  RK

Р – pressure of working liquid in hydraulic system;

q – volumetric constant of hydraulic pump;
η – efficiency of the drive;
RK – the radius of the wheel.
The pressure of a working liquid in accordance to the papers [19] will be equal to:

n
q  j
j 1
P , (6)
2 (CDR   СU  V /  )

СDR – throttle expense coefficient;

СU – coefficient of escaping hydraulic pump;
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 – coefficient of hydraulic system elasticity;

V – volume of hydraulic liquid in hydraulic system;
n – number of hydraulic pumps;
ωj – rotary speed of a hydraulic pump.
Using a system of differential equations (see Equation 4) it is possible to simulate various driving modes of the
vehicle and determine the loads in elastic links.
Analytical solution of system differential equations demands using complicated mathematical apparatus and large
number of equations.

4. Results of computer modeling

Differential equation system of moving vehicle can be solved by means of using system of mathematical
equations Mathcad by applying different functions [20].
For determining conveyance, speed, accelerating moments of a vehicle and to creating graphs of dynamic
changes of loadings in the brake gear we use function returning the solution of differential equation system in the
given block with the set and boundary conditions were used. As a result a great number of function values and
derivatives are received. Then the functions of interpolation spline and interp are used, as a way of transforming a
lot of solutions of differential equation system to a function which can be easily differentiated or integrated later on.
The research of transition processes in the system was conducted for vehicle GAZ -3110.
For modeling braking gear of the car, some vehicles were considered without hydraulic system and GAZ -3110
with hydraulic system of braking as standard and emergency braking processes.
As a result of modeling the graphs of changing speed (Fig. 4a), and the efforts in elastic links of braking drums
(Fig. 4b), equipped with developed system of braking are received. At a speed of 36 km/h the braking time of the
vehicle contained 12 seconds and its braking distance was – 40 meters.

Fig. 4 – (а) The graph of changing speed of braking drum and

(b) efforts of elastic links, of the vehicle equipped with developed system of braking

The graph of changing braking efforts in the system and accelerating moment of brake drum of the vehicle
equipped with a new system of braking (Fig. 5а, 5b).
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Fig. 5. - (а) The graph of changing efforts and (b) acceleration of braking drum of the car equipped with new system of braking

To compare the modes of developed system of braking and a regular braking system the graphs of corresponding
dependences are received. In the system of differential equations (see equation 4) the braking effort on a wheel FT
will have a constant value. Graphs of changing speed of braking drum and the efforts of elastic links (Fig. 6а, 6b).

Fig. 6. (а) – The graph of changing speed of braking drum and (b) efforts in elastic links standard braking system of the vehicle

The researches have pointed out that using shoe brake does not provide equal speed of running car wheels when
braking, thus it leads to drift. Also the change of speed and efforts in the links of the system has permanent
oscillatory character. As the graphs show the amplitude of changing speed is 0.9 м/s, the amplitude of changing
efforts is – 624 Н with the period of fluctuations Т=0.21s.
Usage of developed braking system let us get equal braking efforts on the car wheels. Oscillatory processes in
elastic links have a fading character. During t=2.18s dynamic loadings are reduced and further on the process of car
braking is carried out with smooth reducing a car speed to its full stop.
Thus modeling by means of program package Mathcad confirms the efficiency of using differential braking
system of the vehicle and determines optimum parameters of braking system for a concrete car model.

5. Conclusion

The differential braking system provides equal braking efforts on all wheels of the car. The mathematical model
of braking system of a vehicle allows to model its operation in transitional modes and to analyze the received
results. The choice is possible to do among optimal parameters of braking system taken into account minimizing
dynamic loadings in its elements. The given technical solution allows providing equality of braking efforts on all
wheels and improving reliability of the car in general.
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