전자 제어식 주차브레이크 시스템의 제동력 추정 기법

A Clamping Force Estimation Method in Electric Parking Brake Systems

  • 장민석 (한양대 공대 전기공학과) ;
  • 이영옥 (한양대 공대 전기공학과) ;
  • 이원구 (한양대 공대 전기공학과) ;
  • 이충우 (한양대 공대 전자통신전파공학과) ;
  • 손영섭 ((주)만도 중앙연구소) ;
  • 정정주 (한양대 공대 전기제어생체공학부)
  • 발행 : 2008.12.01

초록

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

키워드

참고문헌

  1. 정하민, 박창훈, 전재우, 여 훈, "전자 제어식 전자 브레이크 개발," 한국자동차 공학회 추계 학술대회 논문집, pp.962-967, KSAE07-F0154, 2007, 11
  2. 현동윤, 김인수, 서형덕, "전자식 주차브레이크의 다이나믹 제동 알고리즘 연구," 한국 자동차 공학회 추계학술대회 논문집, pp.950-955, KSAE07-F0152, 2007. 11
  3. Y. Iwashita, "Force control method based on disturbance load estimation," United States Patent, Patent Number 5,734,242, 1998. 3
  4. R. Schwarz, R. Isermann, J. Bohm, J. Nell, and P. Ricth, "Clamping force estimation for a brake-by-wire actuator," SAE Technical Paper, vol. 108. Document No. 1999-01-0482, 1999. 3
  5. R. Hoseinnezhad, S. Saric and A. Bab-Hadiashar, "Estimation of Clamp Force in Brake-by-Wire Systems: A Step-by-Step Identification Approach," SAE Technical Paper, vol. 115, Document No. 2006-01-1154, 2006. 4
  6. A. Consoli, G. Bottiglieri, R. Lector, R. Ruggeri, A. Testa, and S. De Caro, "Sensorless position control of DC actuators for automotive applications," Industry Applications Conference, 39th IAS Annunal Meeting, pp.1217-1224, 2004
  7. 정한별, 이충우, 이두호, 정정주, 윤팔주, "차량용 전자제어식 주차 브레이크 시스템을 위한 고장 안전 기법," 대한전기학회 하계학술대회, pp.1836-1837, 2006. 7
  8. 양이진, 손영섭, 박인욱, 노강성, 윤팔주, "전자제어식 주차브레이크(EPB) 개발 및 성능평가에 대한 연구," 한국자동차 공학회 춘계 학술대회 논문집, pp.953-958, KSAE06-S0152, 2006. 5
  9. R.C. Juvinall, K.M. Marshek, Fundamentals of machiing component design 3rd Edition, John Wiley & Sons Inc., pp. 381-393, 2000
  10. 설승기, 전기기기 제어론, Brain Korea, pp.46-48, 2002
  11. Y. O. Lee, C. W. Lee, C. C. Chung, Y. Son, P. Yoon and I. Hwang, "Stability analysis of electric parking brake (EPB) systems with a nonlinear proportional controller," 17th IFAC World Congress, Seoul, Korea, pp.14247-14253, 2008. 7
  12. C. Line, C. Manzie and M. Good, "Control of an Electromenchanical Brake for Automotive Brake-By-Wire Systems with an Adapted Motion Control Architecture," SAE Technical Paper, vol. 113, Document No. 2004-01-2050, 2004. 5
  13. H. Olsson, K. J. Astrom, C. C. D. Wit, M. Gafvert, and P. Lischinsky, "Friction models and friction compensatio," European Journal of Control, 1998
  14. Y. O. Lee, C. W. Lee, H. B. Chung, C. C. Chung, Y. Son, P. Yoon and I. Hwang, "A Nonlinear Proportional Controller for Electric Parking Brake(EPB) Systems," 14th Asia Pacific Automotive Engineering Conference, Document No. 2007-01-3657, 2007. 8
  15. K. J. Astrom and B. Wittenmark, Adaptive Control 2nd Edition, Addison-Wesley Publishing Company, pp.42-45, 1995