Study on Clamping Force Control of Sensor-less Electro-Mechanical Brake Actuator
This paper expounds a forcesensor-lessclamping force control strategy for the Electro-Mechanical Brake(EMB)systemto address the inconvenience of installing thepressure sensor.Firstly,a mathematical model of the EMB actuator is established.Then,the characteristics of the driving motor during the braking process are analyzed,and its mathematical model is simplified.Based on this,a sliding mode observer is designed using current and speed signals to estimate the load torque and thus achieve clamping force estimation.Considering the uncertainties and external disturbances in the EMB actuator during the braking process,a clamping force controller is designed based on fast terminal sliding mode theory.Finally,asimulation and a Hardware-in-the-Loop(HiL)test are conducted.The simulation results show that the designed clamping force observer can accurately estimate the clamping force in a short time.The experimental results demonstrate that compared to traditional PID control algorithm,the designed clamping force controller can improve response speed and tracking accuracy effectively.
EMBclamping force estimationclamping force controlsliding mode theory
万方数据
维普
