Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Sliding Mode Control of Electric Booster System

전동 부스터의 슬라이딩 모드 제어

  • 양이진 (한양대학교 일반대학원 자동차공학과) ;
  • 최규웅 ((주)만도 BD사업본부 제동2연구소) ;
  • 허건수 (한양대학교 미래자동차공학과)
  • Received : 2012.01.30
  • Accepted : 2012.04.27
  • Published : 2012.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

Electric brake booster systems replace conventional pneumatic brake boosters with electric motors and rotary-todisplacement mechanisms including ECU (Electronic Control Unit). Electric booster brake systems require precise target pressure tracking and control robustness because vehicle brake systems operate properly given the large range of loading and temperature, actuator saturation, load-dependent friction. Also for the implement of imbedded control system, the controller should be selected considering the limited memory size and the cycle time problem of real brake ECU. In this study, based on these requirements, a sliding mode controller has been chosen and applied considering both model uncertainty and external disturbance. A mathematical model for the electric booster is derived and simulated. The developed sliding mode controller considering chattering problem has been compared with a conventional cascade PID controller. The effectiveness of the controller is demonstrated in some braking cases.

Keywords

References

  1. D. Schenk, R. Wells, and J. Miller, "Intelligent braking for current and future vehicles," SAE International Congress and Exposition, Detroit, USA, SAE 950762, Feb. 1995.
  2. N. A. Kelling and P. Leteinturier, "X-by-wire: opportunities, challenges and trends," 2003 SAE World Congress, Detroit, USA, SAE 2003-01-0113, Mar. 2003.
  3. C. Line, C. Manzie, and M. Good, "Electromechanical brake modeling and control: from PI to MPC," IEEE Trans. on Control Systems Technology, vol. 16, no. 3, pp. 446-457, May. 2008. https://doi.org/10.1109/TCST.2007.908200
  4. R. Schwarz, R. Iselmann, J. Bohm, J. Nell, and P. Rieth, "Modeling and control of an electromechanical disk brake," SAE International Congress and Exposition, Detroit, USA, SAE 980600, Feb. 1998.
  5. C. Maron, T. Dieckmann, S. Hauck, and H. Prinzler, "Electromechnical brake system: actuator control development system," SAE Technical Paper, 970814, Feb. 1997.
  6. H. Klode, A. M. Omekanda, B. Lequesne, S. Gopalakrlshnan, A. Khalil, S. Underwood, and I. Husain, "The potential of switched reluctance motor technology for electro-mechanical brake applications," SAE Technical Paper, 2006-01-0296. Apr. 2006.
  7. C. Line, C. Manzie, and M. Good, "Control of an electromechanical brake for automotive brake-by-wire systems with an adapted motion control architecture," SAE Technical Paper, 2004-01-2050, May. 2004.
  8. H. K. Khalil, Nonlinear systems, 3rd Ed., Prentice Hall, 2002.
  9. J. J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, 1991.
  10. T. Umeno and Y. Hori, "Robust speed control of dc servomotors using modern two degrees-of-freedom controller design," IEEE Trans. Ind. Electron., vol. 38, no. 5, pp. 363-368, 1991. https://doi.org/10.1109/41.97556
  11. H. S. Lee and M. Tomizuka, "Robust motion controller design for high-accuracy positioning systems," IEEE Trans. Ind. Electron., vol. 43, no. 1, pp. 48-55, 1996. https://doi.org/10.1109/41.481407
  12. K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics," IEEE/ASME Trans Mechatronics, vol. 1, no. 1, pp. 56-67, 1996. https://doi.org/10.1109/3516.491410
  13. M. Iwasaki, T. Shibata, and N. Matsui, "Disturbance observerbased nonlinear friction compensation in table drive system," Mechatronics, vol. 4, no. 1, pp. 3-8, 1999.
  14. C. J. Kempf and S. Kobayashi, "Disturbance observer and feedforward design for a high-speed direct-drive positioning table," IEEE Trans. Control Syst. Technol., vol. 7, no. 5, pp. 513- 526, 1999. https://doi.org/10.1109/87.784416
  15. L. X. Wang, A Course in Fuzzy Systems and Control, Prentice Hall, 1997.
  16. W. Chang, Y. H. Joo, J. B. Park, and G. Chen, "Robust fuzzymodel- based controller for uncertain systems," IEEE Int. Proc. of Conference Fuzzy Systems, vol. 1, pp. 486-491, Aug. 1999.
  17. R. G. Morgan and U. Ozguner, "A decentralized variable structure control algorithm for robotic manipulators," IEEE J. Robot. and Auto., vol. RA-1, no. 1, pp. 57-65, Mar. 1985.
  18. T. C. Hsia and L. S. Gao, "Robot manipulator control using decentralized linear time-invariant time-delayed controllers," Proc. of IEEE Int. Conf. on Robot. and Auto., pp. 2070-2075, 1990.
  19. K. Youcef-Toumi and S. Reddy, "Analysis of linear time invariant systems with time delay," ASME J. Dyn. Sys., Meas., and Contr., vol. 114, pp. 544-555, Dec. 1992. https://doi.org/10.1115/1.2897722
  20. H. S. Jeong and C. W. Lee, "Time delay control with state feedback for azimuth motion of the frictionless positioning device," IEEE/ASME Trans. on Mechatronics, vol. 2, no. 3, pp. 161-168, Sep. 1997. https://doi.org/10.1109/3516.622968
  21. J. B. Son, H. R. Kim, Y. S. Seo, and J. M. Lee, "PMSM sensorless speed control using a high speed sliding mode observer," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 3, Mar. 2010.
  22. H. Y. Park, Y. H. Jo, and K. B. Park, "Stability criterion for sampled-data system with sliding mode controller," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 2, pp. 135-138, Feb. 2011. https://doi.org/10.5302/J.ICROS.2011.17.2.135