Abstract:

A robust model predictive control (RMPC) strategy based on an active disturbance rejection extend state observer (ESO) was proposed to improve the robustness and tracking accuracy of clamping force control in an electro-mechanical brake (EMB) system. Firstly, electrical disturbances, mechanical disturbances, and environmental disturbances inherent in the EMB system were analyzed, and a mathematical model incorporating a lumped disturbance term was established. Secondly, an EMB clamping force control strategy based on RMPC was formulated, introducing an active disturbance rejection ESO to estimate and compensate for disturbances. Finally, a hardware-in-the-loop (HIL) experimental platform was developed to validate the proposed method. The results show that the EMB clamping force controlled solely by MPC exhibits significant fluctuation under load disturbance, with a maximum error of 228 N and a maximum error rate of 5.7%; In contrast, the clamping force under the combined RMPC with ESO action shows a maximum steady-state tracking error of only 38 N, with a maximum error rate of 1.52%, indicating that the proposed control strategy effectively suppresses disturbance effects, which can achieve high clamping force tracking precision and strong anti-disturbance capability.

Key words: electro-mechanical brake (EMB) system, clamping force control strategy, robust model predictive control (RMPC), active disturbance rejection extend state observer (ESO), hardware-in-the-loop (HIL) experiment