TY - JOUR
T1 - Robust force control of an SRM-based electromechanical brake and experimental results
AU - Krishnamurthy, Prashanth
AU - Lu, Wenzhe
AU - Khorrami, Farshad
AU - Keyhani, Ali
N1 - Funding Information:
Manuscript received January 09, 2006; revised July 23, 2007 and January 25, 2008. Manuscript received in final form September 25, 2008. First published April 17, 2009; current version published October 23, 2009. Recommended by Associate Editor C. Bohn. The work of P. Krishnamurthy and F. Khorrami was supported in part by the NSF under Grants ECS0105320 and ECS0501539. The work of W. Lu and A. Keyhani was supported in part by the NSF under Grant ECS0501349 and in part by the Department of Electrical and Computer Engineering Mechatronic–Green Energy Systems Laboratory, The Ohio State University. An earlier version of this paper was presented at the IEEE Conference on Decision and Control, Seville, Spain, Dec. 2005.
PY - 2009
Y1 - 2009
N2 - In this paper, we propose robust nonlinear force controllers for a switched-reluctance-motor (SRM) electromechanical brake system which is a promising replacement for hydraulic brakes in the automotive industry. A torque-level control law is first designed using robust backstepping. The backstepping proceeds via the force and the velocity states. The voltage-level control laws are obtained from the virtual control law for the torque using either an additional step of backstepping incorporating a novel voltage-commutation scheme or a torque-ripple-minimizing algorithm based on a design of turn-on/turn-off angles and torque factors. The controllers do not require knowledge of the motor mechanical parameters and the functional forms of the relationships among the motor position, the brake force, and the motor load torque. A detailed model of the motor including current-dependent inductance coefficients is used. The load exerted on the motor by the caliper may be modeled as a spring; however, the actual load model is taken to be an unknown nonlinear function of position to allow for uncertainties in the model. Hence, the developed controllers work for a wide variety of loads including brake systems. Moreover, the controllers provide significant robustness to uncertainty in the inductances and address practical current and voltage constraints. The performance of the proposed controllers is demonstrated through both simulation and experimental studies.
AB - In this paper, we propose robust nonlinear force controllers for a switched-reluctance-motor (SRM) electromechanical brake system which is a promising replacement for hydraulic brakes in the automotive industry. A torque-level control law is first designed using robust backstepping. The backstepping proceeds via the force and the velocity states. The voltage-level control laws are obtained from the virtual control law for the torque using either an additional step of backstepping incorporating a novel voltage-commutation scheme or a torque-ripple-minimizing algorithm based on a design of turn-on/turn-off angles and torque factors. The controllers do not require knowledge of the motor mechanical parameters and the functional forms of the relationships among the motor position, the brake force, and the motor load torque. A detailed model of the motor including current-dependent inductance coefficients is used. The load exerted on the motor by the caliper may be modeled as a spring; however, the actual load model is taken to be an unknown nonlinear function of position to allow for uncertainties in the model. Hence, the developed controllers work for a wide variety of loads including brake systems. Moreover, the controllers provide significant robustness to uncertainty in the inductances and address practical current and voltage constraints. The performance of the proposed controllers is demonstrated through both simulation and experimental studies.
KW - Braking
KW - Electromechanical brake
KW - Force control
KW - Road vehicles
KW - Switched reluctance motor (SRM)
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U2 - 10.1109/TCST.2008.2006908
DO - 10.1109/TCST.2008.2006908
M3 - Article
AN - SCOPUS:70350712248
SN - 1063-6536
VL - 17
SP - 1306
EP - 1317
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
ER -