Abstract
The Electro-Mechanical Brake (EMB) is anticipated by research communities and car manufacturers to be the future adopted brake system due to its advantages. However, to be competitively priced, the high cost load cell of EMB, which measures the clamping force to a disk, should be replaced by a clamping force estimation algorithm. For this purpose, a new clamping force estimator, compatible with readily available sensors, is proposed in this paper. This estimator determines the kissing point where the brake pads start to come into contact with the disk, and generates the characteristic curve of the polynomial function between the clamping force and the motor angle. Periodically updating the characteristic curve can enhance robustness to the pad’s changing thickness. Also, the model includes a description of the hysteresis of the clamping force in the overall algorithm, which prevents the estimation performance from decreasing in the transient state. The performance of the propose algorithm was validated by comparison with measured values on a developed EMB test bench.
Similar content being viewed by others
Abbreviations
- θ s :
-
electrical rotor angle, rad
- w m,w s :
-
motor/synchronous angular velocity, rad/s
- i d,i q :
-
motor current of d-axis/q-axis, A
- v d,v q :
-
motor voltage of d-axis/q-axis, V
- L d,L q :
-
self inductance of d-axis/q-axis, H
- R :
-
stator resistance, Ω
- ψ af :
-
flux linkage, Wb
- n p :
-
number of pole pairs, -
- T m :
-
motor torque, Nm
- K m :
-
motor-torque constant, Nm/A
- θ m :
-
motor angle, rad
- p :
-
pitch of ball screw, m
- GR :
-
total gear ratio, -
- x screw :
-
displacement of ball screw, m
- k screw :
-
translating gain of ball screw, m
- k el :
-
gearing gain, m
- F :
-
clamping force, N
- η :
-
efficiency of ball screw, -
- J tot :
-
total inertia, kg·m2
- T L :
-
load torque, Nm
- T f :
-
friction torque, Nm
- θ 0 :
-
kissing point, rad
- f cl(θ m):
-
characteristic curve, -
- for, back :
-
forward/backward movement
References
Chang, K., Hedrick, J., Zhang, W., Varaiya, P., Tomizuka, M. and Shladover, S. (1993). Automated highway system experiments in the PATH program. J. Intelligent Transportation Systems 1, 1, 63–87.
Hoseinnezhad, R., Bab-Hadiashar, A. and Rocco, T. (2008). Real-time clamp force measurement in electromechanical brake calipers. IEEE Trans. Vehicular Technology 57, 2, 770–777.
Jo, C., Hwang, S. and Kim, H. (2010). Clamping-force control for electromechanical brake. IEEE Trans. Vehicular Technology 59, 7, 3205–3212.
Karnopp, D. (1985). Computer Simulation of stick-slip friction in mechanical dynamic systems. J. Dynamic Systems, Measurement, and Control 107, 1, 100–103.
Ki, Y., Lee, K., Cheon, J. and Ahn, H. (2013). Design and implementation of a new clamping force estimator in electro-mechanical brake systems. Int. J. Automotive Technology 14, 5, 739–745.
Line, C., Manzie, C. and Good, M. (2004). Control of an electromechanical brake for automotive brake-by-wire systems with adapted motion control architecture. SAE Paper No. 2004-01-2050.
Line, C., Manzie, C. and Good, M. (2008). Electromechanical brake modeling and control: From PI to MPC. IEEE Trans. Control Systems Technology 16, 3, 446–457.
Olsson, H., Astrom, K., Wit, C., Gafvert, M. and Lischinsky, P. (1998). Friction models and friction compensation. European J. Control 4, 3, 176–195.
Park, G., Hyun, D. and Choi, S. B. (2016). Development of clamping force estimation algorithm and clamp-force sensor calibration on electromechanical brake systems. Trans. Korean Society of Automotive Engineers 24, 3, 365–371.
Park, H. and Choi, S. B. (2013). The development of a sensorless control method for a self-energizing brake system using noncircular gears. IEEE Trans. Control Systems Technology 21, 4, 1328–1339.
Pillay, P. and Krishnan, R. (1989). Modeling, simulation, and analysis of permanent-magnet motor drives, Part I: The permanent-magnet synchronous motor drive. IEEE Trans. Industry Applications 25, 2, 265–273.
Prokop, L., Stulrajter, M. and Radhostem, R. (2012). 3-phase PMSM Vector Control Using the PXS20 and Tower System. Freescale Semiconductor Application Note, AN4537.
Rajamani, R. (2006). Vehicle Dynamics and Control. Springer-Verlag. New York, USA.
Saric, S., Bab-Hadiashar, A. and Hoseinnezhad, R. (2008). Clamp-force estimation for a brake-by-wire system: A sensor-fusion approach. IEEE Trans. Vehicular Technology 57, 2, 778–786.
Saric, S., Bab-Hadiashar, A. and Walt, J. (2009). Estimating clamp force for brake-by-wire systems: Thermal considerations. Mechatronics 19, 6, 886–895.
Schwarz, R., Isermann, R., Bhm, J., Nell, J. and Rieth, P. (1999). Clamping force estimation for a brake-by-wire actuator. SAE Paper No. 1999-01-0482.
Schwarz, R., Isermann, R., Bohm, J., Nell, J. and Rieth, P. (1998). Modeling and control of an electromechanical disk brake. SAE Paper No. 980600.
Zhong, L., Rahman, M., Hu, W. and Lim, K. (1997). Analysis of direct torque control in permanent magnet synchronous motor drives. IEEE Trans. Power Electronics 12, 3, 528–536.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Park, G., Choi, S. & Hyun, D. Clamping force estimation based on hysteresis modeling for electro-mechanical brakes. Int.J Automot. Technol. 18, 883–890 (2017). https://doi.org/10.1007/s12239-017-0086-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-017-0086-5