Estimation method for clamping force of EMB system based on adaptive sliding mode observer

By combining an adaptive sliding mode observer and a friction model, high-precision estimation of clamping force in an electromechanical braking system is achieved, solving the problem of chattering and friction torque coupling with load disturbance, and improving the robustness and real-time performance of the system.

CN122443393APending Publication Date: 2026-07-24HEFEI UNIV OF TECH
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Patent Information

Application Number
CN202610852859.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-12
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing clamping force estimation methods in electromechanical braking systems suffer from problems such as high-frequency chattering, large observer estimation bias, complex and poor robustness of observer parameter tuning, and strong coupling between friction torque and load disturbance that is difficult to decouple.

Method used

An adaptive sliding mode observer is adopted. By constructing a sliding mode disturbance observer and a friction model, and combining it with a PI residual feedback correction strategy, the friction torque and load torque are accurately decoupled. An adaptive sliding mode control law and a friction parameter database are designed for online adaptive correction.

Benefits of technology

It achieves high accuracy and dynamic response in clamping force estimation, solves the problems of chattering and large estimation deviation in traditional methods, improves the robustness and real-time performance of the system, and reduces the amount of computation.

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Abstract

The invention discloses an EMB system clamping force estimation method based on a self-adaptive sliding-mode observer, and relates to the technical field of electronic mechanical braking systems, and the method comprises the following steps: constructing a sliding-mode disturbance observer to observe and estimate the total disturbance of the system; based on observation of the sliding mode disturbance observer, obtaining initial estimation of load torque; friction residual errors are constructed; a PI residual error feedback correction strategy is used for correcting to obtain an accurate friction torque, and based on the determined final clamping force estimated value, the PI residual error feedback correction strategy is as follows: inputting a residual error into a PI controller to obtain a friction correction amount, and updating the friction torque; therefore, more accurate load estimation is obtained. According to the method, the self-adaptive sliding mode disturbance observer is designed, the sliding mode control law is designed in combination to suppress buffeting, the sliding mode switching gain is improved to be in a self-adaptive mode which is dynamically adjusted along with the motor state, and total disturbance finite time non-overshoot observation is achieved.
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