A Novel Electronic Wedge Brake Based on Active Disturbance Rejection Control
Abstract
:1. Introduction
- The selected input error value is unreasonable and will cause the system to overshoot or oscillate;
- PID controller cannot really solve the contradiction between fast and overshoot;
- The introduction of differential part is easy to cause system instability.
- Designed a novel simple EWB system without a planetary gear set or a ball screw mechanism. Only a screw, a wedge shape brake pad and a wedge plunger are needed. This effectively simplifies the complex mechanical structures;
- Introduced active disturbance rejection control (ADRC) into the proposed EWB model, which greatly increased the anti-interference ability of the proposed EWB system and faster response time;
- Provided a simple method to manage the air gap between the brake rotor and brake pads.
2. Materials and Methods
2.1. Wedge Mechanism
2.2. Force Transformation Mechanism
2.3. A Limit Switch and a Hybrid Stepper Motor
2.4. The Control Algorithm Design of the Proposed EWB System
3. Results and Discussion
3.1. Step Response of the Proposed EWB System
3.2. Simulation for a Vehicle
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameter | Symbol | Value |
---|---|---|
Wedge angle | 22.5 | |
Pitch | l | 2/1000 m |
Caliper stiffness | k | 4.5 × 10 N/m |
Friction coefficient | 0.35 | |
Phases | ph | 2 |
Motor phase resistance | R | 0.46 |
Motor phase inductance | L | 1.2 × 10 H |
Motor teeth | 50 | |
Rotor inertia | J | 3.52 × 10 |
Step angle | 1.8 | |
Torque constant | 1.7128 | |
Viscous damping coefficient | B | 1 × 10 |
Detent torque | 0.0510 | |
Maximum flux | 0.137 Wb | |
Switching cycle | 0.0001 s | |
Power supply | 48 V |
PID | SMC | ADRC | |
---|---|---|---|
Current control | = | = | = |
= | = | = | |
= | |||
= | |||
Speed control | = | = = = = | = |
= | = | ||
= 3142 | |||
= | |||
Position control | = | = |
Controller | Present of Overshoot (%) | Rise Time (s) |
PID | 0 | 0.24 |
SMC | 83.68∼99.77% | 0.17 |
ADRC | 0 | 0.16 |
Controller | Settling Time (s) | Stead State Error (degree) |
PID | 0.33 | 0.24 |
SMC | 0.14 | −1.6∼1.76 |
ADRC | 0.23 | 0.35 |
Parameter | Symbol | Value |
---|---|---|
vehicle’s mass | 6500 kg | |
wheel radius | 0.25 m | |
flywheel’s mass | 40 kg | |
flywheel’s radius | 0.19 m | |
friction coefficient | 0.35 |
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Xu, F.; Cho, C. A Novel Electronic Wedge Brake Based on Active Disturbance Rejection Control. Energies 2022, 15, 5096. https://doi.org/10.3390/en15145096
Xu F, Cho C. A Novel Electronic Wedge Brake Based on Active Disturbance Rejection Control. Energies. 2022; 15(14):5096. https://doi.org/10.3390/en15145096
Chicago/Turabian StyleXu, Feng, and Chongdu Cho. 2022. "A Novel Electronic Wedge Brake Based on Active Disturbance Rejection Control" Energies 15, no. 14: 5096. https://doi.org/10.3390/en15145096