Title: Non-linear controller design based on the input-output linearisation method for a self-energising electro-hydraulic brake

Authors: Alexey Starykh; Matthias Liermann

Addresses: Department of Electric Drives and Equipment, Institute of Power Engineering, Tomsk Polytechnic University, Lenin Avenue 30, 634050 Tomsk, Russia ' Department of Mechanical Engineering, Faculty of Engineering and Architecture, American University of Beirut, Edgbaston, Riad El-Solh 11-0236, 1107-2020 Beirut, Lebanon

Abstract: The self-energising-electro-hydraulic brake is a new energy saving electro-hydraulic brake which offers the unique possibility of direct brake torque control. Its open loop characteristics are unstable, demanding a feedback control in normal operation. This paper describes the analytical design of a non-linear input-output-linearising controller for the brake and discusses the robustness of that control. The control task of the brake is stated as tracking the reference signal and reaching an aperiodic time response of the brake torque of the brake system. In order to design the control a simplified model of 4th order is used. The coordinate's transformation and input-output linearisation are applied to the simplified model. The control signal for the model is constructed via the pole placement method. The non-linear controller shows good performance in non-linear system simulation.

Keywords: input-output linearising controller; electro-hydraulic brakes; brake system modelling; brake torque control; pole placement; robust control; energy saving; self-energisation; nonlinear control; vehicle braking systems; controller design; simulation.

DOI: 10.1504/IJMIC.2013.055914

International Journal of Modelling, Identification and Control, 2013 Vol.20 No.1, pp.64 - 73

Published online: 27 Sep 2014 *

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