In this paper, a cascade control architecture for a brake-by-wire system suitable for motor racing applications is described. The system is composed of an electromechanical actuator, i.e., an electric motor, a transmission, a master cylinder, and a traditional hydraulic brake (pipe and caliper). Starting from a control-oriented model, a cascade control is proposed. An inner-loop controls the position; an outer the pressure. The outer loop features an adaptation mechanism to cope with the intrinsic time-varying nonlinearity of the position–pressure relationship. The stability and robustness of the pressure loop are proven. Extensive experimental validation, conducted on an instrumented motorbike on a test circuit by a professional rider, shows the performance of the system.

Adaptive Cascade Control of a Brake-By-Wire Actuator for Sport Motorcycles

TODESCHINI, FABIO;CORNO, MATTEO;PANZANI, GIULIO;FIORENTI, SIMONE;SAVARESI, SERGIO MATTEO
2015

Abstract

In this paper, a cascade control architecture for a brake-by-wire system suitable for motor racing applications is described. The system is composed of an electromechanical actuator, i.e., an electric motor, a transmission, a master cylinder, and a traditional hydraulic brake (pipe and caliper). Starting from a control-oriented model, a cascade control is proposed. An inner-loop controls the position; an outer the pressure. The outer loop features an adaptation mechanism to cope with the intrinsic time-varying nonlinearity of the position–pressure relationship. The stability and robustness of the pressure loop are proven. Extensive experimental validation, conducted on an instrumented motorbike on a test circuit by a professional rider, shows the performance of the system.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/865136
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