电子机械制动执行器夹紧力改进滑模自抗扰控制OA
Improved sliding mode active disturbance rejection control for clamping-force of EMB actuator
为使电子机械制动(electronic mechanical brake,EMB)执行器兼具良好的动静态性能,提升制动稳定性与安全性,设计了一种电子机械制动执行器夹紧力改进滑模自抗扰控制方法.首先,建立 EMB 执行器的数学模型,根据空间状态方程设计新型滑模趋近律,在指数趋近律基础上引入滑模面的幂次项和饱和函数,提升收敛速度的同时减小系统抖振;其次,针对 EMB 执行器设计了基于新型滑模趋近律的改进自抗扰控制器,并用李亚普诺夫函数证明其稳定性;最后,将所提算法与指数趋近律的滑模控制算法进行对比,试验结果表明,本文算法具有更好的跟踪性能和更强的抗干扰能力.
To help electronic mechanical brake(EMB)actuator achieve good dynamic and static performance and improve braking stability and safety,this paper develops an improved sliding mode active disturbance rejection control method for EMB actuator clamping-force.First,the mathematical model of the EMB actuator is built.A new type of sliding mode approach law is designed based on the state space equation.According to the exponential approach law,the power term and saturation function of the sliding mode surface are introduced to improve the convergence speed while reducing the system chattering.Then,an improved active disturbance rejection controller based on a new sliding mode approach law is designed for the EMB actuator.Its stability is verified by the Lyapunov function.Finally,the proposed algorithm is compared with the sliding mode control algorithm based on the exponential approach law.Results show the proposed method performs better in tracking and anti-interference.
丁嘉伟;宋亚东;刘荣荣;谭草
山东理工大学 交通与车辆工程学院,山东 淄博 255000山东理工大学 交通与车辆工程学院,山东 淄博 255000山东理工大学 交通与车辆工程学院,山东 淄博 255000山东理工大学 交通与车辆工程学院,山东 淄博 255000
交通工程
电子机械制动滑模控制自抗扰控制线控制动
EMBsliding mode controlactive disturbance rejection controlbrake-by-wire
《重庆理工大学学报》 2026 (11)
9-14,6
国家自然科学基金项目(5241154023)山东省自然科学基金项目(ZR2023ME178)山东省科技中小企业创新能力提升项目(2023TSGC0404)山东省高等学校"青创团队计划"项目(2022KJ232)山东省博士后创新项目(SDCX-ZG-202400198)
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