Sliding-Mode Clamping Force Control of Electromechanical Brake System Based on Enhanced Reaching Law

The control of clamping force has a significant influence on the braking performance of low-floor trams. However, the load torque variations, strong nonlinearity and complex structure of electromechanical brake (EMB) systems present challenging the clamping force control issues. In this paper, an EMB system mathematical model is established. Then, an enhanced sliding-mode reaching law (ESMRL) is investigated to address these issues. In addition, novel gap distance elimination and adjustment strategies are proposed to improve the response quality and adjust the gap distance in a simple and low-cost way. Taking advantages of minimal chattering and short reaching times, the proposed ESMRL enhances the dynamic performance and tracking accuracy of the clamping force control. Finally, simulation and experimental results are offered to validate the effectiveness and superiority of the proposed control strategy.

[1]  Wei Xu,et al.  Adaptive Speed Control of PMSM Drive System Based a New Sliding-Mode Reaching Law , 2020, IEEE Transactions on Power Electronics.

[2]  Qiang Chen,et al.  Double Hyperbolic Reaching Law With Chattering-Free and Fast Convergence , 2018, IEEE Access.

[3]  Jun Ma,et al.  Robust finite-time composite nonlinear feedback control for synchronization of uncertain chaotic systems with nonlinearity and time-delay , 2018, Chaos, Solitons & Fractals.

[4]  Junyong Zhai,et al.  Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators. , 2019, ISA transactions.

[5]  Richard D. Colgren,et al.  High-torque density integrated electro-mechanical flight actuators , 2002 .

[6]  Lukun Wang,et al.  RBF Neural Network-Based Supervisor Control for Maglev Vehicles on an Elastic Track With Network Time Delay , 2022, IEEE Transactions on Industrial Informatics.

[7]  Hai Wang,et al.  A Robust Adaptive Chattering-Free Sliding Mode Control Strategy for Automotive Electronic Throttle System via Genetic Algorithm , 2020, IEEE Access.

[8]  Xiaoli Duan,et al.  Adaptive LADRC-Based Disturbance Rejection Method for Electromechanical Servo System , 2020, IEEE Transactions on Industry Applications.

[9]  Bin Xie,et al.  Adaptive Control of DC Motor Servo System With Application to Vehicle Active Steering , 2019, IEEE/ASME Transactions on Mechatronics.

[10]  Dipak Kumar Giri,et al.  Finite-time continuous sliding mode magneto-coulombic satellite attitude control , 2016, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Andrzej Bartoszewicz,et al.  Reaching Law Based Discrete Time Sliding Mode Inventory Management Strategy , 2016, IEEE Access.

[12]  Weidong Zhang,et al.  Electrical line-shafting control for motor speed synchronisation using sliding mode controller and disturbance observer , 2017 .

[13]  Chris Manzie,et al.  Electromechanical Brake Modeling and Control: From PI to MPC , 2008, IEEE Transactions on Control Systems Technology.

[14]  Weibing Gao,et al.  Variable structure control of nonlinear systems: a new approach , 1993, IEEE Trans. Ind. Electron..

[15]  Ali Keyhani,et al.  Robust Force Control of an SRM-Based Electromechanical Brake and Experimental Results , 2009, IEEE Transactions on Control Systems Technology.

[16]  Afef Fekih,et al.  Non-Singular Fast Terminal Sliding Mode Control With Disturbance Observer for Underactuated Robotic Manipulators , 2020, IEEE Access.

[18]  Chintae Choi,et al.  Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control , 2009, IEEE Transactions on Industrial Electronics.

[19]  Chen Chen,et al.  Adaptive sliding mode control of maglev system based on RBF neural network minimum parameter learning method , 2019, Measurement.

[20]  Mahdiyeh Khodaparastan,et al.  Recuperation of Regenerative Braking Energy in Electric Rail Transit Systems , 2018, IEEE Transactions on Intelligent Transportation Systems.

[21]  Xinghuo Yu,et al.  Chattering free full-order sliding-mode control , 2014, Autom..

[22]  Shuang Liang,et al.  Predictive Control Algorithm for Urban Rail Train Brake Control System Based on T-S Fuzzy Model , 2020 .

[23]  Vincent Acary,et al.  Chattering-Free Digital Sliding-Mode Control With State Observer and Disturbance Rejection , 2012, IEEE Transactions on Automatic Control.

[24]  Ahmed Al-Durra,et al.  Adaptive Sliding Mode Observer for Engine Cylinder Pressure Imbalance Under Different Parameter Uncertainties , 2014, IEEE Access.

[25]  Saleh Mobayen,et al.  Design of LMI-based sliding mode controller with an exponential policy for a class of underactuated systems , 2016, Complex..

[26]  Chung Choo Chung,et al.  Clamping Force Control for an Electric Parking Brake System: Switched System Approach , 2013, IEEE Transactions on Vehicular Technology.

[27]  Junqi Xu,et al.  Adaptive Neural-Fuzzy Robust Position Control Scheme for Maglev Train Systems With Experimental Verification , 2019, IEEE Transactions on Industrial Electronics.

[28]  Ali Saghafinia,et al.  Adaptive Fuzzy Sliding-Mode Control Into Chattering-Free IM Drive , 2015, IEEE Transactions on Industry Applications.

[29]  Yutao Feng,et al.  A New Reaching Law for Antidisturbance Sliding-Mode Control of PMSM Speed Regulation System , 2020, IEEE Transactions on Power Electronics.

[30]  Fairouz Tchier,et al.  Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer , 2017 .

[31]  Chi-Ying Lin,et al.  Precision Tracking Control and Constraint Handling of Mechatronic Servo Systems Using Model Predictive Control , 2012, IEEE/ASME Transactions on Mechatronics.

[32]  Chris Manzie,et al.  Active Brake Judder Attenuation Using an Electromechanical Brake-by-Wire System , 2016, IEEE/ASME Transactions on Mechatronics.

[33]  Chao Gong,et al.  An Improved Delay-Suppressed Sliding-Mode Observer for Sensorless Vector-Controlled PMSM , 2020, IEEE Transactions on Industrial Electronics.

[34]  Sung-Ho Hwang,et al.  Clamping-Force Control for Electromechanical Brake , 2010, IEEE Transactions on Vehicular Technology.

[35]  Xu Yang,et al.  Design and Adaptive Terminal Sliding Mode Control of a Fast Tool Servo System for Diamond Machining of Freeform Surfaces , 2019, IEEE Transactions on Industrial Electronics.

[36]  Yuri B. Shtessel,et al.  Twisting sliding mode control with adaptation: Lyapunov design, methodology and application , 2017, Autom..

[37]  Jeon Il Moon,et al.  Study of Mechanism for Wear Adjustment with Electro Wedge Brake , 2014 .