Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
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A Brake Pad Wear Compensation Method and Performance Evaluation for ElectroMechanical Brake

전기기계식 제동장치의 제동패드 마모보상방법 및 성능평가

  • Baek, Seung-Koo (Advanced Railroad Vehicle Division, Korea Railroad Research Institute) ;
  • Oh, Hyuck-Keun (Advanced Railroad Vehicle Division, Korea Railroad Research Institute) ;
  • Park, Choon-Soo (Advanced Railroad Vehicle Division, Korea Railroad Research Institute) ;
  • Kim, Seog-Won (Advanced Railroad Vehicle Division, Korea Railroad Research Institute)
  • 백승구 (한국철도기술연구원 차세대철도차량본부) ;
  • 오혁근 (한국철도기술연구원 차세대철도차량본부) ;
  • 박춘수 (한국철도기술연구원 차세대철도차량본부) ;
  • 김석원 (한국철도기술연구원 차세대철도차량본부)
  • Received : 2020.09.02
  • Accepted : 2020.10.05
  • Published : 2020.10.31
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Abstract

This study examined a brake pad wear compensation method for an Electro-Mechanical Brake (EMB) using the braking test device. A three-phase Interior Permanent Magnet Synchronous Motor (IPMSM) was applied to drive the actuator of an EMB. Current control, speed control, and position control were used to control the clamping force of the EMB. The wear compensation method was performed using a software algorithm that updates the motor model equation by comparing the motor output torque current with a reference current. In addition, a simple first-order motor model equation was applied to estimate the output clamping force. The operation time to the maximum clamping force increased within 0.1 seconds compared to the brake pad in its initial condition. The experiment verified that the reference operating time was within 0.5 seconds, and the maximum value of the clamping force was satisfied under the wear condition. The wear compensation method based on the software algorithm in this paper can be performed in the pre-departure test of rolling stock.

본 논문은 전기기계식제동장치(EMB : Electro Mechanical Brake, 이하 EMB)의 제동패드 마모발생에 따른 소프트웨어 기반의 마모보상방법의 적용 및 성능평가를 다루었다. EMB의 구동을 위해 사용된 모터는 3상 매입형 영구자석 동기전동기(IPMSM : Interior Permanent Magnet Synchronous Motor, 이하 IPMSM)가 사용되었다. EMB의 압부력(clamping force) 제어를 위해 위치제어기, 속도제어기 및 전류제어기가 적용되었으며, IPMSM의 출력 압부력 예측을 위해 모터의 거리별 압부력 실험을 통하여 힘 추정기(force estimator)를 1차 모델식으로 단순화 하였다. 제동패드에서 마모가 발생함에 따라 IPMSM에서 출력되는 토크전류의 크기가 감소하는 특성을 이용하여 기준 토크전류와의 비교를 통해 힘 추정기를 업데이트하는 방법으로 마모보상이 가능함을 보였다. 제동패드의 마모 후 최대 압부력 도달시간이 0.1초 이내로 증가하였으나, 마모패드 장착시에도 제동압부력은 마모 전 제동패드와 동일한 최대 기준 압부력을 만족하였으며, 최대압부력 도달시간의 경우 0.5초(기준값) 이내임을 실험으로 검증하였다. 소프트웨어 기반의 EMB 제동패드의 마모보상 방법은 철도차량의 출발 전 제동장치 점검시 테스트모드의 진입을 통하여 수행이 가능하다.

Keywords

References

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