Abstract
The emerging integrated electric parking brake (IEPB) system is introduced and studied. Through analyzing the various working stages, the stages switched IEPB system models are given with the consideration of the friction and system idle inertia. The sliding mode control (SMC) method is adopted to control the clamping force by the widely used motor angle and clamping force relationship method. Based on the characteristics of the state equations, two sliding surfaces are built to control the motor angle and current, respectively. And in every working stage, the control stability is guaranteed by choosing the control parameters based on Lyapunov theory and SMC reachability. The effectiveness of the proposed control system has been validated in Matlab/Simulink.
Highlights
Lots of strong points exist in X-by-wire systems, such as component number reduction, weight reduction, and performance improvement [1, 2]
The second one is called integrated Electronic parking brake (EPB) (IEPB), which has the similar structure with the electromechanical brake [10,11,12] and it can offer numerous possibilities [13]
By means of the working stages analyses, the stage-switched state-space equations are given with the consideration of friction and system inertia
Summary
Lots of strong points exist in X-by-wire systems, such as component number reduction, weight reduction, and performance improvement [1, 2]. The traditional EPB system models were built in [3,4,5,6,7]; motor friction and screw-nut system inertia were neglected. Few control methods that can track the desired motor angle precisely for electric parking brake system are shown in published researches. The authors proposed the sliding mode control method based on the system characteristics to optimize the control precision and robustness [20,21,22]. The main contributions of this paper lie in three aspects This is among the first attempts to develop a detailed system model for IEPB system. Principle and model of the state-dependent IEPB system, including the DC motor and screw-nut system as well as the clamping force, are given. The simulations and analyses of the proposed control system are shown in the fourth section, followed by the concluding remarks in the final section
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