Robust Control of an Automotive Electromechanical Brake
نویسندگان
چکیده
This paper presents a robust H∞ optimal control design for an automotive electromechanical brake (EMB). The design considers parametric uncertainty, unmodelled dynamics and the need for robust stability and performance. The capacity of a robust EMB control to manage uncertainty and performance is assessed and experimental and simulation results are presented. The tradeoffs involved in meeting a satisfactory performance specification in the presence of a reasonable set of actuator uncertainties are investigated and discussed. The robust control is benchmarked against a standard cascaded PI control for the EMB. Copyright © 2006 IFAC
منابع مشابه
Near-time-optimal tracking controller design for an automotive electromechanical brake
A state-constrained, robust near-time-optimal clamp force tracking controller for an automotive electromechanical brake is presented. The proposed hybrid control structure consists of two switching control laws that handle tracking of rate-bounded references in the presence of state constraints. The responsive tracking utilizes an approximated time-optimal switching curve as a sliding manifold,...
متن کاملControl of an Electromechanical Brake for Automotive Brake-By-Wire Systems with an Adapted Motion Control Architecture
A disk brake clamp force controller for electromechanical brakes (EMB) in automotive brake-by-wire systems may be obtained from a standard motion control architecture with cascaded position, speed and current control loops by replacing the outer position control loop with a force control loop. When implemented with proportional, integral and differential (PID) controllers this architecture gene...
متن کاملExplicit Nonlinear MPC of an Automotive Electromechanical Brake
Electromechanical brakes (EMB) have great potential for automotive applications due to performance, manufacturing and environmental benefits. One key performance criterion is the ability to track brake clamp forces requested by higher level controllers such as antilock braking and electronic stability systems. Prior EMB controllers have utilised architectures including cascaded proportional-int...
متن کاملGain-scheduled wheel slip control in automotive brake systems
A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire ABS system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating conditions are designed using an LQR ap...
متن کاملRobust Position Control of an Electromechanical Actuator for Automotive Applications
In this paper, the position control of an electronic throttle actuator is outlined. The dynamic behavior of the actuator is described with the help of an uncertain plant model. This motivates the controller design based on the ideas of higher-order slidingmodes. As a consequence anti-chattering techniques can be omitted. It is shown that the same concept is applicable to estimate unmeasureable ...
متن کامل