无力传感器的EMB夹紧力控制技术分析

Study on Clamping Force Control of Sensor-less Electro-Mechanical Brake Actuator

阐述针对电子机械制动(Electro-mechanical Braking,EMB)系统压力传感器不便安装的问题,提出一种无力传感器的夹紧力控制策略。首先建立EMB执行器数学模型,分析制动过程中驱动电机的特性并对其数学模型进行简化,融合电流和转速信号设计滑模观测器对负载转矩进行估计,进而实现夹紧力的估计。其次考虑到制动过程中EMB执行器存在大量的不确定性和外部扰动,基于快速终端滑模理论设计夹紧力控制器。最后进行仿真和HiL试验,仿真结果表明,所设计的夹紧力观测器可以在较短时间内对夹紧力进行准确估计,相比传统PID控制算法,能够加快响应速度,有效提高跟踪精度。

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.