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

Abstract

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

CLC Number:

U463.5

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.

Figures/Tables 13

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Main parameters of EMB system"

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

Table 1

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Table 2

References 31

[1]	李波, 黎德祥, 葛文庆, 等. 基于直驱阀的快速响应线控制动系统液压力精确控制[J]. 中国公路学报, 2021, 34(9): 121-132.
	Li Bo, Li De-xiang, Ge Wen-qing, et al. Precision control of hydraulic pressure in fast-response brake-by-wire system based on direct-drive valve[J]. China Journal of Highway and Transport, 2021, 34(9): 121-132.
[2]	Xu Z, Gerada C. Enhanced force estimation for electromechanical brake actuators in transportation vehicles[J]. IEEE Transactions on Power Electronics, 2021, 36(12): 14329-14339.
[3]	熊璐, 李聪聪, 卓桂荣, 等. 电子机械制动器构型及控制技术发展现状[J]. 汽车工程, 2023, 45(12): 2187-2199.
	Xiong Lu, Li Cong-cong, Zhuo Gui-rong, et al. Review on electro-mechanical brake structure and control technology[J]. Automotive Engineering, 2023,45 (12): 2187-2199.
[4]	何睿, 吴坚, 高吉. 汽车电动助力制动系统摩擦建模与补偿控制[J] .汽车工程, 2017, 39(6): 683-688.
	He Rui, Wu Jian, Gao Ji. Modeling and compensation control of friction in vehicle power assisted braking systems[J]. Automotive Engineering, 2017, 39(6): 683-688.
[5]	赵立金, 杨世春, 曲婧瑶. 电子机械制动系统关键技术研究进展[J]. 北京航空航天大学学报, 2025, 51(4): 1037-1047.
	Zhao Li-jin, Yang Shi-chun, Qu Jing-yao. Research progress of EMB systems key technology[J]. Journal of Beijing University of Aeronautics and Astronautics, 2025,51(4):1037-1047.
[6]	Li J, Wang M C, He R, et al. A design of electromechanical brake system triple-loop controllers using frequency domain method based on Bode plote[C]∥Proceedings of 2011 International Conference on Transportation, Mechanical, and Electrical Engineering. Piscataway, NJ: IEEE, 2011: 795-798.
[7]	彭晓燕, 何磊, 吕以滨. 基于滑移率的电子机械制动模糊滑模控制[J]. 中南大学学报: 自然科学版, 2018, 49(2): 360-370.
	Peng Xiao-yan, He Lei, Lv Yi-bin. Fuzzy sliding mode control based on vehicle slip ratio for electro-mechanical braking systems[J]. Journal of Central South University (Science and Technology), 2018, 49(2): 360-370.
[8]	Lindvai S D, Horn M. Modelling, control & implementation of an electro-mechanic braking force actuator for HEV and EV[J]. IFAC Proceedings Volumes, 2013, 46(21): 620-625.
[9]	Lee C F, Line C M C. Explicit nonlinear MPC of an automotive electromechanical brake[J]. IFAC Proceedings Volumes, 2008, 41(2): 10758-10763.
[10]	张奇祥, 靳立强, 靳博豪, 等. EMB夹紧力控制与传感器故障诊断研究进展[J]. 汽车工程, 2022, 44(5): 736-746.
	Zhang Qi-xiang, Jin Li-qiang, Jin Bo-hao, et al. Research progress of EMB clamping force control and sensor fault diagnosis[J]. Automotive Engineering, 2022, 44(5): 736-746.
[11]	Ahn J K, Jung K H, Kim D H, et al. Analysis of a regenerative braking system for hybrid electric vehicles using an electro-mechanical brake[J]. International Journal of Automotive Technology, 2009, 10: 229-234.
[12]	Jo C, Hwang S, Kim H. Clamping-force control for electromechanical brake[J]. IEEE Transactions on Vehicular Technology, 2010, 59(7): 3205-3212.
[13]	贺林,徐子昂,黄春荣, 等. 线控转向系统转角预测滑模控制算法研究[J]. 汽车工程, 2023, 45(12): 2200-2208.
	He Lin, Xu Zi-ang, Huang Chun-rong, et al. Research on sliding mode control algorithm for angle tracking of steer-by-wire system[J]. Automotive Engineering, 2023, 45(12): 2200-2208.
[14]	李智斌, 李亮, 张建强, 等. 双轴音圈电机快速反射镜的系统建模与滑模控制[J]. 光学精密工程, 2023, 31(24): 3580-3594.
	Li Zhi-bin, Li Liang, Zhang Jian-qiang, et al. System modeling and sliding mode control of dual-axis voice coil actuator fast steering mirror[J]. Optical Precision Engineering, 2023, 31(24): 3580-3594.
[15]	Han K, Kim M, Huh K. Modeling and control of an electronic wedge brake[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2012, 226(10): 2440-2455.
[16]	Zhao Y Y, Lin H, Li B Q. Sliding-mode clamping force control of electromechanical brake system based on enhanced reaching law[J]. IEEE Access, 2021, 9: 19506-19515.
[17]	Park G, Choi S B. Clamping force control based on dynamic model estimation for electromechanical brakes[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2018, 232(14): 2000-2013.
[18]	Bae J H. Soft computing approach for sensorless control in brakeby-wire systems with electro-mechanical brake[D]. Daegu: Department of Information and Communication Engineering of DGIST, 2017.
[19]	De C R, Todeschini F, Araujo R E, et al. Adaptive-robust friction compensation in a hybrid brake-by-wire actuator[J]. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2014, 228(10): 769-786.
[20]	Ma R, Zhang H Y, Yuan M H, et al. Chattering suppression fast terminal sliding mode control for aircraft EMA braking system[J]. IEEE Transactions on Transportation Electrification, 2021, 7(3): 1901-1914.
[21]	赵逸云, 林辉, 李兵强. 电子机械制动系统无压力传感器控制策略[J]. 北京航空航天大学学报, 2023, 49(10): 2711-2720.
	Zhao Yi-yun, Lin Hui, Li Bing-qiang. Clamping force sensorless control strategies for electromechanical brake systems[J]. Journal of Beijing University of Aeronautics and Astronautics, 2023, 49(10): 2711-2720.
[22]	张荣芸, 邱天, 时培成, 等. 基于反步鲁棒控制与改进跟踪微分器的PMSM无传感器控制[J]. 电力系统保护与控制, 2023, 51(15): 87-96.
	Zhang Rong-yun, Qiu Tian, Shi Pei-cheng, et al. Sensorless control of a PMSM based on backstepping robust control and an improved tracking differentiator[J]. Power System Protection and Control, 2023, 51(15): 87-96.
[23]	葛正, 王维锐, 王俊鼎. 电子机械制动器间隙调整控制策略研究[J]. 浙江大学学报: 工学版, 2017, 51(1): 138-144.
	Ge Zheng, Wang Wei-rui, Wang Jun-ding. Control strategy for brake clearance adjustment of electronic mechanical brake[J]. Journal of Zhejiang University (Engineering Science), 2017, 51 (1): 138-144.
[24]	刘志强, 陈玉锦, 陈林. 电子机械制动器的间隙调控方法[J]. 兵工学报, 2022, 43(7): 1478-1487.
	Liu Zhi-qiang, Chen Yu-jin, Chen Lin. A gap control method for electromechanical brakes[J]. Journal of Ordnance Industry, 2022, 43(7): 1478-1487.
[25]	Li Y, Tan P L, Liu J L, et al. A super-twisting extended state observer for nonlinear systems[J]. Mathematics, 2022, 10(19): No.3584.
[26]	谭草, 任浩鑫, 葛文庆, 等. 直驱阀控液压振动平台改进自抗扰控制[J]. 吉林大学学报: 工学版, 2025, 55(1): 84-92.
	Tan Cao, Ren Hao-xin, Ge Wen-qing, et al. Improved active disturbance rejection control for hydraulic vibration stages based on the direct-drive value[J]. Journal of Jilin University (Engineering and Technology Edition), 2025, 55(1): 84-92.
[27]	谭草, 鲁应涛, 葛文庆, 等. 直驱式永磁直线电机深度模糊滑模-自抗扰控制[J]. 西安交通大学学报, 2023, 57(1): 185-194.
	Tan Cao, Lu Ying-tao, Ge Wen-qing, et al. Deep fuzzy sliding-mode active disturbance rejection control method of permanent magnet linear motor for direct drive system[J]. Journal of Xi'an Jiaotong University, 2023, 57(1): 185-194.
[28]	Yan R D, Wu Z. Super-twisting disturbance observer-based finite-time attitude stabilization of flexible spacecraft subject to complex disturbances[J]. Journal of Vibration and Control, 2019, 25(5): 1008-1018.
[29]	林飞飞, 曾喆昭. 不确定分数阶时滞混沌系统自适应神经网络同步控制[J]. 物理学报, 2017, 66(9): 40-49.
	Lin Fei-fei, Zeng Zhe-zhao. Synchronization of uncertain fractional-order chaotic systems with time delay based on adaptive neural network control[J]. Acta Physica Sinica, 2017, 66(9): 40-49.
[30]	张合新, 范金锁, 孟飞, 等. 一种新型滑模控制双幂次趋近律[J]. 控制与决策, 2013, 28(2): 289-293.
	Zhang He-xin, Fan Jin-suo, Meng Fei, et al. A new double power reaching law for sliding mode control [J]. Control and Decision Making, 2013, 28(2): 289-293.
[31]	Yu S H, Yu X H, Shirinzadeh B, et al. Continuous finite-time control for robotic manipulators with terminal sliding mode[J]. Automatica, 2005, 41(11): 1957-1964.

Related Articles 15

[1]	Zhen-hai GAO,Ming-xi BAO,Rui ZHAO,Ming-hong TANG,Fei GAO. Multimodal trajectory prediction based on target anchor-driven [J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 21-30.
[2]	Xiang-wen ZHANG,Zi-hao WANG. Electro-hydraulic coordinated control strategy for braking mode switching process of electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 31-43.
[3]	Wei LAN,Zheng ZHOU,Guan-yu WANG,Wei WANG,Miao-miao ZHANG. Intelligent fitting method for vehicle design based on machine learning [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(9): 2858-2863.
[4]	Bing ZHU,Peng-xiang MENG,Bin LIU,Jia-yi HAN,Jian ZHAO,Zhi-cheng CHEN,Dong-jian SONG,Xiao-wen TAO. Virtual lane lines fitting method based on traffic environment information [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(9): 2935-2945.
[5]	Shou-tao LI,Xiang-yi JIA,Jun ZHU,Hong-yan GUO,Ding-li YU. Uncontrolled intersections decision⁃making method for intelligent driving vehicles based on Level⁃K [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(9): 3069-3078.
[6]	Gui-shen YU,Xin CHEN,Yue TANG,Chun-hui ZHAO,Ai-jia NIU,Hui CHAI,Jing-xin NA. Effect of laser surface treatment on the shear strength of aluminum-aluminum bonding joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(8): 2555-2569.
[7]	Jun-wu ZHAO,Ting QU,Yun-feng HU. Trajectory planning for intelligent vehicles based on adaptive sampling [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(8): 2802-2816.
[8]	Jin-wu GAO,Shao-long SUN,Shun-yao WANG,Bing-zhao GAO. Speed fluctuation suppression strategy of range extender based on motor torque compensation [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(8): 2475-2486.
[9]	Mei-xia JIA,Jian-jun HU,Feng XIAO. Multi⁃physics simulation method of vehicle motor under varying working conditions based on multi⁃software combination [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(6): 1862-1872.
[10]	Xue-wei SONG,Ze-ping YU,Yang XIAO,De-ping WANG,Quan YUAN,Xin-zhuo LI,Jia-wen ZHENG. Research progress on the performance changes of lithium⁃ion batteries after aging [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(6): 1817-1833.
[11]	Chun XIAO,Zi-chun YI,Bing-yin ZHOU,Shao-rui ZHANG. Fuzzy energy management strategy of fuel cell electric vehicle based on improved pigeon⁃inspired optimization [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(6): 1873-1882.
[12]	Wei-dong LI,Cao-yuan MA,Hao SHI,Heng CAO. An automatic driving decision control algorithm based on hierarchical reinforcement learning [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1798-1805.
[13]	Dang LU,Yan-ru SUO,Yu-hang SUN,Hai-dong WU. Estimation of tire camber and sideslip combined mechanical characteristics based on dimensionless expression [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1516-1524.
[14]	Zhen-hai GAO,Cheng-yuan ZHENG,Rui ZHAO. Review of active safety verification and validation for autonomous vehicles in real and virtual scenarios [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1142-1162.
[15]	Tao ZHANG,Huang-da LIN,Zhong-jun YU. Real-time rolling optimization control method for gearshift of hybrid electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1215-1224.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

Comments

Recommended 0

No Suggested Reading articles found!

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

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

RICH HTML

PDF (PC)