![]() The unknown key parameter is estimated through a new adaptive law driven by both tracking error and observation error. A constraint adaptive robust controller is proposed by combining adaptive robust control and prescribed performance mechanism to realize constraint pressure tracking. By considering the clearance in the mechanical transmissions, a more applicable continuous friction model is derived based on experimental identification and used as direct feedforward input to facilitate the pressure tracking controller design. In this study, a high accuracy main cylinder pressure tracking method with exact performance boundary is proposed for the mainstream motor-booster EHB system. Pressure control of the electro-hydraulic brake-by-wire system (EHB) is of great significance in achieving precise braking maneuvers for the brake-by-wire vehicle. Test results show that both the position tracking performance and response time of the EMBB system performed well. Finally, the bench tests based on rapid control prototyping environment were designed and implemented to verify the performance of the controller. In addition, a second-order filter was designed to do the signal processing and obtain a higher-order derivative. The benefit of the nonlinear control method is that it offers a concise control law and performs well in engineering implementations. Meanwhile, a nonlinear control method for position tracking is presented to solve the problem of power assist braking, which is formalized as three parts: the steady-state control, feed-forward control based on reference dynamics, and state-dependent feedback control. Considering the inconvenience of installation and high price of the pedal force sensor, we translate the control problem of brake power assist control to position tracking control. In this paper, we report on the design of an EMBB system consisting of a dc motor, a two-state reduction of a gear and ball screw, a servo body, and a reaction disk. The electro-mechanical brake booster (EMBB) is a kind of mechatronic actuator, which is developed to suit the brake assist requirements of electric vehicles. Furthermore, the pedal feel remains consistent, even when factoring in the number of vibrations caused by the inherent hydraulic characteristic of pressure versus volume. The proposed controller decreases the latency significantly by 85 milliseconds, which also helps to improve accuracy by 22.6%. The effectiveness of the explicit MPC is evidenced by the simulations compared with a single MPC in regenerative and dead-zone conditions. Afterwards, the non-linear extended Kalman filter including the recorded time-variant process noise is used to estimate all the state variables. A linear piecewise affine control law can then be obtained by solving the quadratic program (QP) of explicit MPC. The three distributed MPCs are constructed based on the linearized subsystems, and a state machine is used to perform the state jump across the controllers. Next, in accordance with the operational conditions, the entire system is divided into three switchable subsystems. First, the new flow model is introduced as the foundation for controller design and simulation. To track both the reference signals related to piston displacement and the wheel cylinder pressure, an explicit model predictive control (MPC) is developed. This paper aims to address the independent closed-loop control of the position and pressure as well as the maintenance of the pedal feel. A vehicle’s hydraulic system is composed of the E-Booster and electric stability control to control the master cylinder and wheel cylinders. Recent investigations of the electric braking booster (E-Booster) focus on its potential to enhance brake energy regeneration.
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