This paper proposes a sensor-less robust force control method for improving the control\nperformance of an electro-mechanical brake (EMB) which is applicable to commercial city buses.\nThe EMB generates the accurate clamping force commanded by a driver through an independent\nmotor control at each wheel instead of using existing mechanical components. In general, an EMB\nundergoes parameter variation and a backdrivability problem. For this reason, the cascade control\nstrategy (e.g., force-position cascade control structure) is proposed and the disturbance observer is\nemployed to enhance control robustness against model variations. Additionally, this paper proposed\nthe clamping force estimation method for a sensor-less control, i.e., the clamping force observer (CFO).\nFinally, in order to confirm the performance and effectiveness of a proposed robust control method,\nseveral experiments are performed and analyzed.
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