Electro-Mechanical brakes (EMB) are key tools to improve vehicle safety and performance. However, since the dynamics of the clamping force exhibits a highly nonlinear behaviour, it is typically difficult to tune adequate control laws. In this paper, a model-reference fixed-order controller is proposed, comprising two cascaded gain-scheduled blocks, regulating the motor speed and the pad force, respectively. The corresponding design problem is shown to be nonlinear and non-convex, thus a particle swarm method is employed to find the optimal controller. The advantages of using a nonlinear reference model, as well as its proper selection, are discussed in detail. Numerical results illustrate the effectiveness of the proposed approach on a realistic EMB simulator.
Model-reference design of fixed-order controllers for Brake-By-Wire actuators
Riva G.;Ruiz Palacios F.;Formentin S.;Savaresi S. M.
2021-01-01
Abstract
Electro-Mechanical brakes (EMB) are key tools to improve vehicle safety and performance. However, since the dynamics of the clamping force exhibits a highly nonlinear behaviour, it is typically difficult to tune adequate control laws. In this paper, a model-reference fixed-order controller is proposed, comprising two cascaded gain-scheduled blocks, regulating the motor speed and the pad force, respectively. The corresponding design problem is shown to be nonlinear and non-convex, thus a particle swarm method is employed to find the optimal controller. The advantages of using a nonlinear reference model, as well as its proper selection, are discussed in detail. Numerical results illustrate the effectiveness of the proposed approach on a realistic EMB simulator.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
