A KALMAN FILTERING APPROACH TO ESTIMATE CLAMP FORCE IN BRAKE-BY-WIRE SYSTEMS

Stephen Saric, Alireza Bab-Hadiashar

Abstract

Removing a clamp force sensor from brake-by-wire (BBW) system designs has been driven by the need to reduce costs and design complexities. In this paper an improved method is presented to estimate clamp force using other sensory information. The proposed estimator is based on the Kalman filter where the actuator resolver is used in a dynamic stiffness model and the actuator current sensors as well as the resolver are used to give measurement updates in a torque balance model. Experimental results show that the estimator can handle highly dynamic braking scenarios making it suitable for possible use in anti-lock braking system (ABS) controls. A comparison is made with a previous attempt to estimate clamp force in BBW systems and it is shown that the proposed estimator improves the root mean square error (RMSE) of estimation. A training strategy is explained to ensure that the estimator can adequately adapt to parameter variations associated with wear. This paper finally discusses reliability issues associated with the developed clamp force estimator.

References

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Paper Citation


in Harvard Style

Saric S. and Bab-Hadiashar A. (2007). A KALMAN FILTERING APPROACH TO ESTIMATE CLAMP FORCE IN BRAKE-BY-WIRE SYSTEMS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 249-255. DOI: 10.5220/0001643802490255


in Bibtex Style

@conference{icinco07,
author={Stephen Saric and Alireza Bab-Hadiashar},
title={A KALMAN FILTERING APPROACH TO ESTIMATE CLAMP FORCE IN BRAKE-BY-WIRE SYSTEMS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={249-255},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001643802490255},
isbn={978-972-8865-84-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - A KALMAN FILTERING APPROACH TO ESTIMATE CLAMP FORCE IN BRAKE-BY-WIRE SYSTEMS
SN - 978-972-8865-84-9
AU - Saric S.
AU - Bab-Hadiashar A.
PY - 2007
SP - 249
EP - 255
DO - 10.5220/0001643802490255