Skip to main content
SpringerLink
Log in

Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation

  • Published:
Journal of Central South University Aims and scope Submit manuscript

Abstract

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake (EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop (HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. RAO Zhong-hao, HUO Yu-tao, LIU Xin-jian. Experimental study of an OHP-cooled thermal management system for electric vehicle power battery [J]. Experimental Thermal and Fluid Science, 2014, 57: 20–26.

    Article  Google Scholar 

  2. LIU Yan-fang, DAI Zhen-kun, XU Xiang-yang, TIAN Liang. Multi-domain modeling and simulation of proportional solenoid valve [J]. Journal of Central South University of Technology, 2011, 18(5): 1589–1594.

    Article  Google Scholar 

  3. GAO Y, EHSANI M. Electronic braking system of EV and HEV - integration of regenerative braking, automatic braking force control and ABS [C]// 2001 SAE World Congress. Detroit, Michigan: SAE, 2001: 5–8.

    Google Scholar 

  4. PETER C, FRANCZISKA B, THOMAS F. Energy recapture through deceleration-regenerative braking in electric vehicles from a user perspective [J]. Ergonomics, 2013, 56(8): 1203–1215.

    Article  Google Scholar 

  5. LV Chen, ZHANG Jun-zhi, LI Yu-tong. Extended-Kalman-filterbased regenerative and friction blended braking control for electric equipped with axle motor considering damping and elastic properties of electric powertrain [J]. Vehicle System Dynamics, 2014, 52(11): 1372–1388.

    Article  Google Scholar 

  6. FENG Chong, DING Neng-gen, HE Yong-ling, XU Guo-yan, GAO Feng. Control allocation algorithm for over-actuated electric vehicles [J]. Journal of Central South University, 2014, 21(10): 3705–3712.

    Article  Google Scholar 

  7. KO J W, KO S Y, KIM I S. Co-operative control for regenerative braking and friction braking to increase energy recovery without wheel lock [J]. International Journal of Automotive Technology, 2014, 15(2): 253–262.

    Article  Google Scholar 

  8. LIAN Yu-feng, TIAN Yan-tao, HU Lei-lei. A new braking force distribution strategy for electric vehicle based on regenerative braking strength continuity [J]. Journal of Central South University, 2013, 20(12): 3481–3489.

    Article  Google Scholar 

  9. CASTRO D C, TODESCHINI F, ARAUJO R E, SAVARESI S M, CORNO M, FREITAS D. 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.

    Google Scholar 

  10. LI Yi-bo, PAN Qing, HUANG Ming-hui. Model-based parameter identification of comprehensive friction behaviors for giant forging press [J]. Journal of Central South University, 2013, 20(9): 2359–2365.

    Article  Google Scholar 

  11. YANG Xia-wei, LI Wen-ya, MA Tie-jun. Computational analysis of linear friction welding process and micromechanical modeling of deformation behavior for medium carbon steel [J]. Journal of Central South University, 2015, 22(9): 2359–2365.

    Google Scholar 

  12. ARMSTRONG H B, DUPONT P, CANUDAS D W C. A survey of models, analysis tools and compensation methods for the control of machines with friction [J]. Automatica, 1994, 30(7): 1083–1138.

    Article  MATH  Google Scholar 

  13. FEEMSTER M, VEDAGARBHA P, DAWSON D M, HASTE D. Adaptive control techniques for friction compensation [J]. Mechatraonics, 1999, 9(2): 125–145.

    Article  MATH  Google Scholar 

  14. CANUDAS D W C, OLSSON H, ASTROM K J, LISCHINSKY P. A new model for control of systems with friction [J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419–425.

    Article  MathSciNet  MATH  Google Scholar 

  15. MARTON L, FODOR S, SEPEHRI N. A practical method for friction identification in hydraulic actuators [J]. Mechatronics, 2011, 21(1): 350–356.

    Article  Google Scholar 

  16. MERRITT H E. Hydraulic control systems [M]. London: Wiley, 1967.

    Google Scholar 

  17. BIGRAS P. Reduced nonlinear observer for bounded estimation of the static friction model with Stribeck effect [J]. System & Control Letters, 2009, 58(2): 119–123.

    Article  MathSciNet  MATH  Google Scholar 

  18. RAMEZANI M, RIPIN Z M, AHMAD R. Modelling of kinetic friction in V-bending of ultra-high-strength steel sheets [J]. The International Journal of Advanced Manufacturing Technology, 2010, 46(1): 101–110.

    Article  Google Scholar 

  19. HUA Chun-li, RAO Zhu-shi, TA Na, ZHU Zhen-cai. Nonlinear dynamics of rub-impact on a rotor-rubber bearing system with the Stribeck friction model [J]. Journal of Mechanical Science and Technology, 2015, 29(8): 3109–3119.

    Article  Google Scholar 

  20. TUSTIN A. The effects of backlash and of speed-dependent friction on the stability of closed-cycle control system [J]. The Journal of Institution of Electrical Engineers, 1947, 94(2): 143–151.

    Google Scholar 

  21. BROOKNER E. Tracking and Kalman filtering made easy [M]. London: Wiley & Sons, 1998.

    Book  Google Scholar 

  22. GREWAL M S, ANDREWS A P. Kalman filtering: Theory and practice [M]. New Jersey: Prentice-Hall, 1993.

    MATH  Google Scholar 

  23. VADIM I U. Nonlinear and optimal control theory [M]. Berlin: Springer, 2008.

    Google Scholar 

  24. DING X, MIKARIC S, HE Y. Design of an active trailer-steering system for multi-trailer articulated heavy vehicles using real-time simulations [J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2012, 227(5): 643–655.

    Google Scholar 

  25. WANG Q, HE Y. Design and validation of active trailer steering systems for multi-trailer articulated heavy vehicles considering driver-vehicle-controller interactions [J]. International Journal of Vehicle Performance, 2015, 2(1): 58–84.

    Article  Google Scholar 

  26. OHTANI Y, INNAMI T, OBATA T, YAMAGUCHI T. Development of an electrically-driven intelligent brake unit [C]// 2011 SAE World Congress. Detroit, Michigan: SAE, 2011: 12–14.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China

    Jia-wang Yong  (雍加望), Feng Gao  (高峰) & Neng-gen Ding  (丁能根)

  2. Beijing Key Laboratory for High-efficient Power Transmission and System Control of New Energy Resource Vehicle, Beijing, 100191, China

    Jia-wang Yong  (雍加望)

  3. Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, L1H 7K4, Canada

    Yu-ping He

Authors
  1. Jia-wang Yong  (雍加望)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Feng Gao  (高峰)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Neng-gen Ding  (丁能根)
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Yu-ping He
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Neng-gen Ding  (丁能根).

Additional information

Foundation item: Projects(51405008, 51175015) supported by the National Natural Science Foundation of China; Project(2012AA110904) supported by the National High Technology Research and Development Program of China

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yong, Jw., Gao, F., Ding, Ng. et al. Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation. J. Cent. South Univ. 24, 1909–1921 (2017). https://doi.org/10.1007/s11771-017-3598-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-017-3598-2

Key words

Search

Navigation