基于超扭曲扩张状态观测器的电子机械制动器夹紧力改进滑模控制

doi:10.13229/j.cnki.jdxbgxb.20240264

吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (11): 3544-3553.doi: 10.13229/j.cnki.jdxbgxb.20240264

• 车辆工程·机械工程 • 上一篇

基于超扭曲扩张状态观测器的电子机械制动器夹紧力改进滑模控制

谭草¹(),宋亚东¹,李波¹(),司书哲²,郝明基¹,丁嘉伟¹

^1.山东理工大学交通与车辆工程学院，山东淄博 255000
^2.舜泰汽车有限公司，山东淄博 255000

收稿日期:2024-03-14 出版日期:2025-11-01 发布日期:2026-02-03
通讯作者: 李波 E-mail:njusttancao@yeah.net;njustlibo@126.com
作者简介:谭草（1991-），男，副教授，博士. 研究方向：新能源汽车线控系统分析、设计与控制.E-mail： njusttancao@yeah.net
基金资助:
国家自然科学基金项目(52375105);山东省优秀青年人才基金项目(ZR2022YQ51);山东省自然科学基金项目(ZR2023ME178);山东省自然科学基金项目(ZR2023ME177);山东省高等学校“青创科技计划”团队项目(2022KJ232);山东省科技中小企业创新能力提升项目(2023TSGC0404)

Improved sliding mode control of clamping force in electronic mechanical brake based on super-twisting extended state observer

Cao TAN¹(),Ya-dong SONG¹,Bo LI¹(),Shu-zhe SI²,Ming-ji HAO¹,Jia-wei DING¹

^1.School of Transportation and Vehicle Engineering，Shandong University of Technology，Zibo 255000，China
^2.Shuntai Automobile Co. ，Ltd. ，Zibo 255000，China

Received:2024-03-14 Online:2025-11-01 Published:2026-02-03
Contact: Bo LI E-mail:njusttancao@yeah.net;njustlibo@126.com

摘要/Abstract

摘要：

针对电子机械制动器因系统内部变量耦合、参数摄动、外部时变干扰等不确定性因素造成的夹紧力响应缓慢、控制精度恶化等问题，提出了基于超扭曲扩张状态观测器的电子机械制动器夹紧力改进滑模控制方法。首先，设计了一种改进的趋近律，在传统指数趋近律的基础上引入可变函数增益项及滑模面幂次项，增大趋近速率的同时削弱抖振，并且基于改进的趋近律和滑模面设计了改进的夹紧力控制器；其次，设计了基于超扭曲算法的扩张状态观测器，用于估计系统扰动，同时把扰动估计值前馈至控制器中给予补偿；再次，通过李雅普诺夫定理验证了系统的稳定性；最后，在台架试验中，将本文提出的算法与双幂次趋近律、快速幂次趋近律、指数趋近律等算法进行对比。结果表明：本文算法下电子机械制动器的夹紧力控制具有更高的响应速度、控制精度与抗干扰能力。

关键词: 车辆工程, 线控制动系统, 滑模控制, 电子机械制动, 夹紧力

Abstract:

Aiming at the problems of slow clamping force response and deteriorating control accuracy caused by uncertainty factors such as internal system variable coupling， parameter perturbation， and external time-varying interference in electronic mechanical brake， an improved sliding mode control method for clamping force of electronic mechanical brake based on super-twisting extended state observer is proposed in this paper. Firstly， an improved reaching law is designed， which introduces a variable function gain term and a sliding mode surface power term on the basis of the traditional exponential reaching law. This increases the convergence speed while weakening chattering phenomenon. Based on the improved reaching law and sliding mode surface， an improved clamping force controller is designed. Secondly， design an extended state observer based on the super-twisting algorithm to estimate system disturbances， while feedforward the estimated disturbance values to the controller for compensation. Thirdly， the stability of the system is proven through the Lyapunov theorem. Finally， compare the algorithm proposed in this paper with algorithms such as double power reaching law， fast power reaching law and exponential reaching law in the test bench experiments. The results show that the clamping force control of the electronic mechanical brake under the algorithm proposed in this paper has higher response speed， control accuracy， and anti-interference ability.

Key words: vehicle engineering, brake-by-wire system, sliding mode control, electronic mechanical brake, clamping force

中图分类号:

U463.5

谭草,宋亚东,李波,司书哲,郝明基,丁嘉伟. 基于超扭曲扩张状态观测器的电子机械制动器夹紧力改进滑模控制[J]. 吉林大学学报(工学版), 2025, 55(11): 3544-3553.

Cao TAN,Ya-dong SONG,Bo LI,Shu-zhe SI,Ming-ji HAO,Jia-wei DING. Improved sliding mode control of clamping force in electronic mechanical brake based on super-twisting extended state observer[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(11): 3544-3553.

图/表 13

图1

图2

图3

图4

表1

EMB系统主要参数"

结构	名称	符号	参数值
驱动电机	黏性摩擦系数/（ $N ? M ? S$ ）	$B v$	0.000 8
	定子电阻/ $Ω$	$R$	0.13
	定子电感/H	$L$	0.000 15
	转动惯量/（ $k g ? m 2$ ）	$J$	0.000 028
	额定电压/V	$U$	24
	转矩常数	$k T$	0.06
减速机构	行星齿轮减速比行星齿轮效率	$i$ $η p$	3 0.9
运动转化机构	丝杠导程/mm 丝杠效率	$L 0$ $η g$	4 0.969 3

表1

图5

图6

图7

图8

图9

图10

图11

表2

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干扰功率/W	算法	平均稳态误差/N
5	本文算法	12.11
	双幂次趋近律	13.74
	快速幂次趋近律	14.91
	SMC	15.57
10	本文算法	17.34
	双幂次趋近律	19.68
	快速幂次趋近律	21.35
	SMC	22.31
15	本文算法	21.24
	双幂次趋近律	24.10
	快速幂次趋近律	26.13
	SMC	27.32

基于超扭曲扩张状态观测器的电子机械制动器夹紧力改进滑模控制

Improved sliding mode control of clamping force in electronic mechanical brake based on super-twisting extended state observer

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