基于PWA辨识的EMB夹紧力估计与跟踪控制策略

doi:10.3901/JME.260213

摘要/Abstract

摘要： 电子机械制动(Electromechanical brake,EMB)具有响应速度快、控制精度高等优点，成为汽车线控制动系统的重要发展趋势。针对EMB系统存在的夹紧力估计失准、跟踪控制精度难保证的行业难题，提出一种基于分段仿射(Piecewise affine,PWA)辨识的EMB夹紧力估计与跟踪控制策略。首先，分析EMB系统的结构和工作原理，构建包含驱动电机模型、电机摩擦模型以及传动机构模型等在内的EMB系统动力学模型，为后续夹紧力跟踪控制策略设计奠定基础；其次，获取了EMB夹紧力随刹车片温度和电机转角变化的试验数据，在此基础上，基于PWA辨识方法建立了EMB夹紧力估计模型，通过仿真和试验数据对比，验证了PWA辨识模型的准确性；第三，制定基于PID、非奇异终端滑模以及模型预测控制等算法相结合的EMB夹紧力跟踪控制方案，结合不同控制算法的性能特点，确定了各控制器的功能分配和设计流程；最后，开展EMB夹紧力跟踪控制策略的仿真和试验性能验证，结果表明，所提出的EMB夹紧力跟踪控制策略能够提升系统响应，降低稳态误差，改善跟踪精度。

关键词: 汽车, 线控底盘, 电子机械制动, 夹紧力估计, 分段仿射辨识, 跟踪控制

Abstract: Electromechanical brake(EMB) exhibits advantages such as rapid response speed and high control accuracy, making it a crucial development trend in automotive brake-by-wire systems. To address industry challenges of inaccurate clamping force estimation and difficult-to-guarantee tracking control accuracy in EMB systems, this study proposes a clamping force estimation and tracking control strategy based on piecewise affine(PWA) identification. First, the structure and working principle of EMB systems were analyzed, establishing a comprehensive EMB system dynamics model that incorporates driving motor models, motor friction models, and transmission mechanism models, laying the foundation for subsequent clamping force tracking control strategy design. Second, experimental data of EMB clamping force variations with brake pad temperature and motor rotation angle were obtained. Based on this, a PWA identification-based EMB clamping force estimation model was developed, with its accuracy verified through comparative analysis of simulation and experimental data. Third, an EMB clamping force tracking control scheme integrating PID, nonsingular terminal sliding mode, and model predictive control algorithms was formulated, with functional allocation and design procedures determined by leveraging the performance characteristics of different control algorithms. Finally, simulation and experimental validation of the proposed EMB clamping force tracking control strategy were conducted. Results demonstrate that the proposed strategy effectively accelerates system response, reduces steady-state errors, and enhances tracking accuracy.

Key words: automobile, brake-by-wire chassis, electromechanical brake(EMB), clamping force estimation, piecewise affine identification, tracking control

中图分类号:

U463

黄晨, 向文霄, 孙晓强, 张厚忠, 陈龙. 基于PWA辨识的EMB夹紧力估计与跟踪控制策略[J]. 机械工程学报, 2026, 62(8): 180-195.

HUANG Chen, XIANG Wenxiao, SUN Xiaoqiang, ZHANG Houzhong, CHEN Long. Clamping Force Estimation and Tracking Control Strategy for EMB Based on PWA Identification[J]. Journal of Mechanical Engineering, 2026, 62(8): 180-195.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260213

http://www.cjmenet.com.cn/CN/Y2026/V62/I8/180

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