Optimization control method for clamping force of electromechanical brake system of tram
An optimization control method for clamping force was proposed for the electromechanical brake (EMB) system of trams. Firstly,the model of the EMB system was established,and the controller was divided into a clamping force control layer and speed control layer according to its physical structure and stiffness nonlinear characteristics. Only the clearance elimination and clamping force tracking control were considered for the clamping force control layer. The speed curve planning was combined with clam-ping force nonlinear PI control to quickly eliminate the braking gap in the desired time. For the speed control layer,the nonlinear factors in the system are equivalent to the comprehensive interference. Mean-while,an adaptive gain super-twisting algorithm (AGSTA) was proposed to improve the robustness of un-known interference and the rapidity of speed tracking of the motor control layer,which can reduce speed overshoot and keep the clamping force of the EMB system consistent. Finally,the simulation and experi-mental results show that the proposed optimization control method of clamping force can effectively im-prove the control performance of the system.
tramelectromechanical brake systemclamping force controlbrushless DC motorsuper-twisting algorithm
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