Clamping Force Control Strategy of Electro-Mechanical Brake System Using VUF-PID Controller

Chen, Qiping; Zhen, LV; Tong, Huanan; Zhao, Xiong

doi:10.3390/act12070272

Cited by 5 publications

(5 citation statements)

References 18 publications

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“…The rest of this paper is described as follows. The next section introduces the principle of the braking system, proposed deceleration closed-loop control architecture, and a simple dynamic model of the EMB system referenced in previous works [33,34] for this UETRV. Section 3 presents the fuzzy neural network with stretching factor-based vehicle deceleration rate controller, which can adaptively tune parameters of three gain values of PID in real time.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

Li,

Ma,

Jiang

2024

Sensors

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It is urgent for automated electric transportation vehicles in coal mines to have the ability of self-adaptive tracking target constant deceleration to ensure stable and safe braking effects in long underground roadways. However, the current braking control system of underground electric trackless rubber-tired vehicles (UETRVs) still adopts multi-level constant braking torque control, which cannot achieve target deceleration closed-loop control. To overcome the disadvantages of lower safety and comfort, and the non-precise stopping distance, this article describes the architecture and working principle of constant deceleration braking systems with an electro-mechanical braking actuator. Then, a deceleration closed-loop control algorithm based on fuzzy neural network PID is proposed and simulated in Matlab/Simulink. Finally, an actual brake control unit (BCU) is built and tested in a real industrial field setting. The test illustrates the feasibility of this constant deceleration control algorithm, which can achieve constant decelerations within a very short time and maintain a constant value of −2.5 m/s2 within a deviation of ±0.1 m/s2, compared with the deviation of 0.11 m/s2 of fuzzy PID and the deviation of 0.13 m/s2 of classic PID. This BCU can provide electric and automated mine vehicles with active and smooth deceleration performance, which improves the level of electrification and automation for mine transport machinery.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

Li,

Ma,

Jiang

2024

Sensors

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“…Zhao et al [12] proposed a slide-mode reaching law to deal with the load torque disturbance of EMB. In order to enhance the adaptive tracking performance of the clamping force of EMB, a single clamping force close-loop controller based on the Variable Universe Fuzzy-PID (VUF-PID) algorithm is proposed to reduce the adjustment time of the clamping force [13], but it always required additional time to adjust the parameters of VUF-PID to track the variable input force command, which is not appropriate under the conditions of anti-block system (ABS) control [14,15]. A kind of automobile power-by-wire steering control method based on FPIDBS control is adopted in Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Considering the demand of high accuracy of the braking system for coal mine engineering vehicles, both the force loop, current loop and speed loop must be adopted in the overall controller design. Although scholars have proposed a clamping force control method based on intelligent algorithms such as fuzzy or neural networks, these controllers always act on the single-force close-loop unit, which can not produce a balance between the stable state tracking of clamping force and response speed [10,12,13,23]. The current disturbance correction caused by nonlinear load effect can not be suppressed in a timely manner [19].…”

Section: Introductionmentioning

confidence: 99%

Variable Universe Fuzzy–Proportional-Integral-Differential-Based Braking Force Control of Electro-Mechanical Brakes for Mine Underground Electric Trackless Rubber-Tired Vehicles

Li,

Jiang

2024

Sensors

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Currently, the main solution for braking systems for underground electric trackless rubber-tired vehicles (UETRVs) is traditional hydraulic braking systems, which have the disadvantages of hydraulic pressure crawling, the risk of oil leakage and a high maintenance cost. An electro-mechanical-braking (EMB) system, as a type of novel brake-by-wire (BBW) system, can eliminate the above shortcomings and play a significant role in enhancing the intelligence level of the braking system in order to meet the motion control requirements of unmanned UETRVs. Among these requirements, the accurate control of clamping force is a key technology in controlling performance and the practical implementation of EMB systems. In order to achieve an adaptive clamping force control performance of an EMB system, an optimized fuzzy proportional-integral-differential (PID) controller is proposed, where the improved fuzzy algorithm is utilized to adaptively adjust the gain parameters of classic PID. In order to compensate for the deficiency of single-close-loop control and adjusting the brake gap automatically, a cascaded three-closed-loop control architecture with force/position switch technology is established, where a contact point detection method utilizing motor rotor angle displacement is proposed via experiments. The results of the simulation and experiments indicate that the clamping force response of the proposed multi-close-loop Variable Universe Fuzzy–PID (VUF-PID) controller is faster than the multi-closed-loop Fuzzy–PID and cascaded three-close-loop PID controllers. In addition, the chattering of braking force can be suppressed by 17%. This EMB system may rapidly and automatically finish the operation of the overall braking process, including gap elimination, clamping force tracking and gap recovery, which can obviously enhance the precision of the longitudinal motion control of UETRVs. It can thus serve as a BBW actuator of mine autonomous driving electric vehicles, especially in the stage of braking control.

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“…The energy consumption during braking processes in different driving cycles is shown in Table 1 [3] , where UDDS and ECE stand for urban dynamometer driving schedule and Economic Commission of Europe, respectively. Therefore, regenerative braking systems (RBS), which could recapture kinetic energy and greatly reduce power consumption [5] , are widely researched in electric or hybrid vehicles [4][5][6] , and brake-by-wire systems [7,8] that support the application of regenerative braking (RB) are investigated as well [7][8][9][10] . Xu et al divided the braking into four different modes for hybrid electric vehicles, and a hierarchical controller is designed to switch the braking mode and to realize optimal efficiency control [11] .…”

Section: Introductionmentioning

confidence: 99%

Integrated control of anti-lock and regenerative braking for in-wheel-motor-driven electric vehicles

Yong,

Dong,

Zhang

et al. 2024

Complex Engineering Systems

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The in-wheel motor is increasingly used in electric vehicles due to the significantly improved controllability, response capability, and energy recovery efficiency based on this technology. However, the independent control of in-wheel motors will lead to braking torque distribution problems, especially in a situation where anti-lock braking systems (ABS) are triggered, which may cause the braking energy to be unrecoverable without the coordinated control between anti-lock and RB for two in-wheel motor-driven electric vehicles based on the RB efficiency map. Control-oriented wheel dynamics and slip ratio models of the system are generated. A sliding mode intervention of regenerative braking (RB) control. This paper presents an integrated algorithm to realize the control-based ABS controller is designed to prevent the wheels from locking and to maintain the slip ratio within a desired level, and the stability and robustness of the controller to uncertainties and disturbances are discussed. Moreover, the braking strength of the driver is calculated and divided into different modes to derive a dynamic braking torque distribution to improve the energy recovery efficiency. The hardware-in-the-loop simulation results show that the recovered energy of the proposed strategy under ABS-triggered maneuver is increased by 52.9% than that of the Proportional, Integral, and Derivative controller and can effectively improve the braking performance and stability.

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Clamping Force Control Strategy of Electro-Mechanical Brake System Using VUF-PID Controller

Cited by 5 publications

References 18 publications

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System

Variable Universe Fuzzy–Proportional-Integral-Differential-Based Braking Force Control of Electro-Mechanical Brakes for Mine Underground Electric Trackless Rubber-Tired Vehicles

Integrated control of anti-lock and regenerative braking for in-wheel-motor-driven electric vehicles

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