Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake (EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamen...

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Bibliographic Details
Published inJournal of Central South University Vol. 24; no. 8; pp. 1909 - 1921
Main Authors Yong, Jia-wang, Gao, Feng, Ding, Neng-gen, He, Yu-ping
Format Journal Article
LanguageEnglish
Published Changsha Central South University 01.08.2017
Springer Nature B.V
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ISSN2095-2899
2227-5223
DOI10.1007/s11771-017-3598-2

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Summary:This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake (EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop (HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.
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ISSN:2095-2899
2227-5223
DOI:10.1007/s11771-017-3598-2