Author(s)

LEI CHI, WU MENG-LING

Abstract

The train electro-mechanical brake (EMB) device, which is different from pneumatic brake and hydraulic brake, is a new type of brake mode. The train EMB device consists of motor-servo system and mechanical transmission. Due to nonlinear friction of the motor and uncertain resistance of transmission, the clamp force can’t be controlled accurately with open loop. In this paper, the nonlinear friction of the motor and the uncertain resistance of transmission are regarded as disturbing force. A self-adaptation estimator which can estimate the disturbing force online is designed. The input of train EMB device, which is compensated by the output of estimator, makes controller adapted time-varying disturbing. To verify the clamp force control performance, a Hardware-In-the-Loop (HIL) test is carried out. Test results suggest that the proposed self-adaptation controller is able to provide valid estimated disturbing force and control the clamp force accurately.

Keywords

electro-mechanical brake (EMB), clamp force, disturbing force, self-adaptation estimator, Hardware-In-the-Loop (HIL) test