This paper presents a new design of an electronic fixed calliper-based wedge brake system. The movement of both sides of the brake piston is activated by a wedge block mechanism. The proposed fixed calliper-based electronic wedge brake system is a class of hydraulic-free device. The mechanism consists of two sets of wedge blocks, a ball screw drive shaft, a sliding beam and an electric motor. In this mechanism, the rotation of the shaft of the electric motor is converted into linear motion by using a ball screw drive shaft while the linear motion of the drive shaft will force the sliding beam to be displaced linearly. This will activate the wedge mechanism, which will cause the pad to be displaced tangentially to the disc brake. The movement of the pad in pressing the disc will generate clamping force and produce brake torque when the wheel rotates. In this study, the mathematical model of the system that generates the clamping force was identified. The model was based on a second order transfer function. The proposed mathematical model was then validated experimentally using a brake test rig installed with several sensors and input-output (IO) device. The performance of the brake mechanism in term of rotational input of the drive shaft and clamping force produced by the brake were observed. Accordingly, a torque tracking proportional-integral-derivative (PID) control of the system was proposed and studied through simulation and experiment. Comparisons between experimental results and model responses were made. It is found that the trend between simulation results and experimental data are similar, with an acceptable level of error. Keywords: fixed calliper-based electronic wedge brake, clamping force system modelling and validation, torque tracking control, hardware-in-the-loop-simulation Highlights • This paper presents the modelling and validation of a fixed calliper-based electronic wedge brake. • It also discusses on the effectiveness of the model in order to develop a good control strategy for the FIXEWB. • Based on the developed control strategy, the effectiveness of the proposed torque tracking control of the FIXEWB was studied and presented. • The control strategy developed is based on a PID controller.
The objective of this paper is to study the performance of a sixth order polynomial approach to model hysteresis behaviour of a magnetorheological (MR) damper under harmonic excitations. The polynomial model is developed based on curve fitting from the experimental results and consists of a pair subsystem namely positive and negative acceleration which correspond to the upper and lower curves. The performance of the proposed polynomial model is compared with a well known non-parametric technique namely inverse model. The energy dissipated and equivalent damping coefficient of the MR damper in terms of input current and displacement amplitude are investigated. From the simulation results, the sixth order polynomial model shows better performance in describing non-linear hysteresis behaviour of the MR damper compared with inverse model. The force tracking control in both simulation and experimental studies demonstrate that a close-loop PI control has the ability to track the desired damping force well.
An armoured vehicle tends to lose its dynamic mobility when firing on the move. This is due to the effect of the firing force that reacts at the centre of the weapon platform, which creates an unwanted yaw moment at the vehicle's centre of gravity. In order to enhance the mobility performance of the armoured vehicle, a control strategy, i.e. yaw rejection control, is designed and test on an armoured vehicle model. The purpose of the control strategy is to maintain the directional mobility of the armoured vehicle by providing a steering correction angle to the pitman arm steering system. The control strategy proposed in this study consists of two main structures: yaw rate feedback control using a Proportional-Integral-Derivative (PID) controller and Lateral Force Rejection Control (LFRC) using an adaptive Fuzzy-Proportional-Integral (adaptive Fuzzy-PI) controller. The simulation results in terms of yaw and lateral motions were observed, and the proposed control strategy was shown to successfully improve the directional mobility of the armoured vehicle after firing. The benefit of the proposed control strategy with adaptive fuzzy-PI control is evaluated by comparing its performance to fuzzy-PI and proportional-integral (PI) control strategies. Keywords: armoured vehicle model, validation of armoured vehicle model, active front steering, firing on the move, adaptive fuzzy control, lateral force control Highlights • The armoured vehicle model is developed. • The armoured vehicle model was validated with a real armoured vehicle. • Firing on the move control strategy is proposed. • The control strategy consists of adaptive fuzzy control with lateral force control.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.