Journal article

High-Bandwidth Clamp Force Control for an Electromechanical Brake

CF Lee, C Manzie

SAE International Journal of Passenger Cars - Electronic and Electrical Systems | Published : 2012


A controller that fully utilizes the available motor capacity of an electromechanical brake to achieve high closed-loop bandwidth is proposed. The controller is developed based on the time-optimal switching curve derived from Pontryagin's Maximum Principle. The control input is scheduled using a switching surface based on the current motor velocity and position offset. Robustness to modeling errors is achieved by introducing a boundary layer in vicinity of the switching curve, reminiscent of a high gain controller. A flexible tuning procedure is also developed to aid in practical implementation, allowing a balanced choice between tracking speed and energy usage. The controller is implemented..

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