Clamping Force Control for an Electric Parking Brake System: Switched System Approach
- Authors
- Lee, Young Ok; Son, Young Seop; Chung, Chung Choo
- Issue Date
- Sep-2013
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Electric parking brake (EPB); Lyapunov stability; self-locking; state-dependent switched system
- Citation
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, v.62, no.7, pp.2937 - 2948
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
- Volume
- 62
- Number
- 7
- Start Page
- 2937
- End Page
- 2948
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/162063
- DOI
- 10.1109/TVT.2013.2251029
- ISSN
- 0018-9545
- Abstract
- This paper addresses the modeling, controller design, and stability analysis of an electric parking brake system in which a screw-nut self-locking mechanism is used. The system is modeled as a state-dependent switched system according to the operating mode. A nonlinear proportional (P) clamping force controller using the measured force is proposed to enhance the performance specifications. We show the uniform stability of the state-dependent switched system with the nonlinear P controller using a common Lyapunov theorem and LaSalle's invariance principle. We derive the conditions to assure stable self-locking operation of the system. We also show the existence of the largest invariant set depending on the target braking force. This analysis offers a guideline as to how a nonlinear controller can be designed in view of the self-locking stability and control performance. Through simulation and experimental results, we confirm that the solution is locally uniformly ultimately bounded. Through the experimental results, we show that the nonlinear P controller outperforms a simple on/off controller in terms of the average and deviation of the braking force error. Furthermore, it is experimentally verified that the system is also able to function as a pseudo-antilock braking system.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.