Control Method of Electronic Mechanical Brake Master Controller Under Total Phase Lag Angle Delay Relationship
The delay of the main controller of electromechanical brake(EMB)is affected by many factors,and there is a complex interaction between the factors and the delay control,which makes the delay control difficult.Therefore,a delay control method of the master controller of electro-mechanical braking is proposed.Considering the influence of motor lock-rotor torque,motor friction,transmission mechanism and braking mechanism on electro-mechanical braking,the relationship between delay and lag angle of braking system is analyzed.The quantization relationship between the master controller delay and the total phase lag angle of electro-mechanical braking is calculated,and the estimated value is obtained by the state observer.The braking state of EMB is obtained by the moment of inertia,friction torque,transmission and braking equations of the motor rotor,and the active control of the delay is realized by com-bining the estimated gain parameters of the master controller.The experimental results show that the delay control time of the main controller is shorter,and the electro-mechanical braking distance and slip rate are significantly re-duced,which indicates that the proposed method can effectively guarantee the stability of electro-mechanical braking.
electromechanical braking(EMB)main control serveranalysis of influencing factorsdelay active controlspeed regulatorstate observer
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NSTL
万方数据
维普
