Adaptive Clamping Force Control of Electromechanical Brake System Based on High-Order Fully Actuated System Approaches

This article proposes an adaptive clamping force tracking control method based on the high-order fully actuated (HOFA) system approaches and a Linear Extended State Observer (LESO) based on the HOFA model for state estimation and active disturbance rejection control. First, the configuration and mathematical model of the electromechanical brake (EMB) are introduced and the HOFA model is established after the linearization process of clamping force and the simplification of the electrical subsystem into a first-order inertial system model. Then, a disturbance observer and an adaptive clamping force tracking controller based on the HOFA model are designed to follow the desired smooth clamp force trajectory. Furthermore, stability proofs for both the observer and the controller are provided, along with a detailed parametric design procedure for the controller. Finally, the superiority of the adaptive tracking HOFA controller proposed in this article was verified through a comparative analysis with traditional three-loop cascade PI controller(TCPI) and PI-SMC controller where the speed loop is replaced by a sliding mode controller.