2. System Modeling of an EMB System
3. Design of a Sensor-Less Robust Controller
- First, the desired clamping force is generated by a driver’s brake pedal command. Note that the desired clamping force can be calculated by using the brake pedal stroke sensor.
- Second, the 2-degree-of-freedom position controller is designed based on the defined nominal motor model for improving the position tracking performances and an inner-loop disturbance observer (i.e., called a position-mode DOB) is designed for making the position controller robust against external disturbances.
- Third, a CFO is designed based on a nominal motor model and a reduction gear ratio.
- Forth, the outer-loop disturbance observer (i.e., called a force-mode DOB) is designed to compensate for model variations and to reject undesired disturbances. A F-DOB makes the complicated calmping force dynamics behave as a defined nominal clamping force model.
- Finally, the 2-degree-of-freedom clamping force controller is designed by using the nominal clamping force model.
3.1. Design of a Clamping Force Observer (CFO)
3.2. Design of an Inner-Loop Controller: Position Controller
3.3. Design of an Outer-Loop Controller: Force Controller
4.1. Experimental Setup
4.2. Experimental Results
Conflicts of Interest
|a damping coefficient in a motor model|
|a force controller|
|a position controller|
|a force feed-forward controller|
|a position feed-forward controller|
|a clamping force|
|an estimated clamping force|
|a moment of inertia for a driving motor|
|a proportional gain used in the force controller|
|an integral gain used in the force controller|
|a proportional gain used in the position controller|
|an integral gain used in the position controller|
|a derivative gain used in the position controller|
|a force gain|
|a brake pad coefficient|
|a residual vibration compensator|
|a nominal model between and|
|a nominal model between and|
|a low pass filter used in an inner position control loop|
|a low pass filter used in an outer force control loop|
|an angle of a driving motor|
|a torque of a driving motor|
|a time constant|
|an angular velocity of a driving motor|
|a cutoff frequency of a feedforward filter used in the position control|
|a cutoff frequency of a feedforward filter used in the force control|
|a bandwidth of the residual vibration compensator,|
|a bandwidth of the force controller|
|a cutoff frequency of|
|a cutoff frequency of|
|a bandwidth of the position controller|
|stroke of the brake pad|
|a damping coefficient used in a residual vibration compensator,|
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