Research on Wheel Slip Ratio Control for Electro-Mechanical Brake System: From PI to High-Order Sliding Mode Control Tongji University

Format:

Book

Conference/Event

Author/Creator:

Cheng, Yulin, author.

Contributor:

Li, Congcong

Qiao, Le

Wang, Chenyu

Wei, Wei

Zhuo, Guirong

Conference Name:

SAE 2025 Intelligent and Connected Vehicles Symposium (2025-09-19 : Shanghai, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2025

Summary:

The electro-mechanical brake (EMB) system is a novel dry-type brake-by-wire system that features superior control performance and a compact structural design, effectively meeting the development demands of intelligent and electrified vehicles. However, current research on anti-lock braking system (ABS) primarily focuses on hydraulic brake system and mostly remains at the simulation and hardware-in-the-loop testing stages. Therefore, this paper validates the feasibility of slip ratio control based on EMB actuators through both simulation and real-vehicle experiments. First, this paper establishes an equivalent second-order response model for the closed-loop EMB control system through theoretical derivation and identifies the dynamic response characteristics of the EMB actuator via sinusoidal frequency sweep testing. Next, it compares two control strategies: one that uses the reference slip ratio as the direct control target, and another that uses reference wheel speed as the direct control target to indirectly regulate slip ratio. The latter effectively avoids the nonlinearities in slip ratio control caused by variations in vehicle speed. Based on reference wheel speed control, three types of slip ratio controllers were designed and derived: proportional-integral control (PI), integral sliding mode control (ISM), and super-twisting integral sliding mode control (STISM). Finally, simulation and real-vehicle tests on high-adhesion road surfaces verified that sliding mode slip ratio control based on reference wheel speed offers robustness, avoids the risks associated with overestimated controller gains, and improves the overall stability of the control system. In particular, the STISM, as a representative of high-order sliding mode control, effectively addresses the chattering issue present in traditional first-order sliding mode methods, offering enhanced braking safety and comfort

Notes:

Vendor supplied data

Publisher Number:

2025-01-7332

Access Restriction:

Restricted for use by site license