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칼만 필터 기반의 전동식 브레이크 실시간 클램핑력 추정
현세라(Sera Hyeon),조성선(Sungsun Cho),박기서(Giseo Park) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11
The electro-mechanical brake (EMB) is anticipated by research communities and car manufacturers to be the future adopted brake system due to its advantages. However, to be competitively priced, the high cost load cell of EMB, which measures the clamping force to a disk, should be replaced by a clamping force estimation algorithm. First, in order to determine the point of occurrence of the clamping force, an algorithm is developed to estimate the pad contact point, which represents the contact between the pad and the disk. Then, a new Kalman filter for clamping force estimation is proposed in this paper. In particular, the estimation accuracy is improved by considering both friction torque models in the dynamic state and the stationary state. The performance of the proposed estimation algorithm is validated by comparison with the actual clamping force measured by the load cell sensor on the EMB test bench. At this time, through some stage tests including both steady state and transient state, it can be confirmed whether the performance of the proposed estimation algorithm can be maintained for various clamping force references.