Clamping Force Control of Electromechanical Brake Actuator Considering Contact Point between Friction Lining and Brake Disc
Abstract
:1. Introduction
2. EMB Actuator Scheme for Commercial Vehicles
2.1. Braking Requirements for Commercial Vehicles
2.2. The Structure Scheme of the EMB Functional Prototype
2.3. The New Structural Scheme of the EMB
3. The Dynamics Model of the EMB Actuator
3.1. Control-Oriented Servo Motor Model
3.2. Transmission Mechanism Model
3.3. Conversion Mechanism Model
3.4. Friction Model
3.5. Caliper Model
4. Clamping Force Control Strategy Considering Contact Point
4.1. EMB Operation Process
- The stage of eliminating the brake clearance
- 2.
- The stage of following target clamping force
- 3.
- The stage of retreating to the initial position
4.2. Clamping Force Control Architecture
4.3. Recognition of Contact Point between Friction Lining and Brake Disc Based on Fuzzy Logic Algorithm
4.3.1. Principles of Contact Point Recognition
4.3.2. Contact Point Recognition Strategy
- Membership Function
- 2.
- Fuzzy Rules
4.4. Clamping Force Control Considering the Contact Point
4.4.1. Clamping Force and Motor Speed Loops: PI Algorithm
4.4.2. The Motor Current Loop
5. A Simulation Analysis of the Strategy
5.1. Contact Point Identification Method
5.2. Clamping Force Control Strategy
- Step signal of maximum clamping force
- 2.
- Pulse signal of various amplitude analysis
- 3.
- Ramp signal
- 4.
- Sinusoidal signal
6. Conclusions
- Compared with a mainstream pneumatic disc brake, the axial length of the EMB actuator proposed in this study is reduced by 17.6%.
- The contact point identification method can accurately identify the contact point between the friction lining and brake disc.
- The clamping force control strategy enables the EMB actuator to achieve the rapid response, accurate tracking, and stable maintenance of the target signal. Specifically, the time to eliminate brake clearance is 0.5 s, the maximum clamping force response is 0.3 s, and the steady-state error is less than 1 kN.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Category | Parameters | Value | Unit |
---|---|---|---|
Vehicle Mass | Fully Loaded Mass | 10,080 | kg |
Curb Mass | 7690 | kg | |
Wheels | Maximum Braking Torque | 16,500 | |
Effective Radius of Brake Disc | 173 | mm | |
Rolling Radius of Wheel | 51 | mm | |
Brakes | Brake Clearance (Single Side) | 0.3~0.6 | mm |
Friction Coefficient | 0.4 | / |
Parameters | Symbol | Value | Unit |
---|---|---|---|
Stiffness coefficient | 0.001 | / | |
Viscous damping coefficient | 0.001 | / | |
Viscous friction coefficient | 0.001 | / | |
Stribeck velocity | 0.8 | m/s | |
Coulomb friction | 1 | N | |
Static friction | 1.5 | N |
Parameters | |||||||||
---|---|---|---|---|---|---|---|---|---|
Brake Tightening | −422.3 | 55.15 | 11.24 | 112.1 | 30.54 | 0 | 0 | 0 | |
Brake Release | 63.39 | 3.911 | −23.25 | 43.14 | 7.137 | 142.2 | 49.03 | 12.55 |
Resistance | Rate of Resistance | |||||||
---|---|---|---|---|---|---|---|---|
Ad | Bd | Cd | Dd | Ed | Fd | Gd | Hd | |
Az | VL | VL | QL | QL | L | L | ML | ML |
Bz | VL | QL | QL | L | L | ML | ML | M |
Cz | QL | QL | L | L | ML | ML | M | M |
Dz | QL | L | L | ML | ML | M | M | MG |
Ez | L | L | ML | ML | M | M | MG | MG |
Fz | L | ML | ML | M | M | MG | MG | MH |
Gz | ML | ML | M | M | MG | MG | MH | MH |
Hz | ML | M | M | MG | MG | MH | MH | H |
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Meng, Y.; Wu, T.; Rong, J.; Yang, X.; Peng, J.; Chu, L. Clamping Force Control of Electromechanical Brake Actuator Considering Contact Point between Friction Lining and Brake Disc. Actuators 2024, 13, 345. https://doi.org/10.3390/act13090345
Meng Y, Wu T, Rong J, Yang X, Peng J, Chu L. Clamping Force Control of Electromechanical Brake Actuator Considering Contact Point between Friction Lining and Brake Disc. Actuators. 2024; 13(9):345. https://doi.org/10.3390/act13090345
Chicago/Turabian StyleMeng, Yang, Tong Wu, Jin Rong, Xiaojun Yang, Jing Peng, and Liang Chu. 2024. "Clamping Force Control of Electromechanical Brake Actuator Considering Contact Point between Friction Lining and Brake Disc" Actuators 13, no. 9: 345. https://doi.org/10.3390/act13090345