林巍聳臺灣大學：電機工程學研究所莊財裕Chuang, Tsi-YuTsi-YuChuang2007-11-262018-07-062007-11-262018-07-062007http://ntur.lib.ntu.edu.tw//handle/246246/53328本論文的核心問題是楔擠式電子機械制動器 (EWB)的模式分析與控制器設計，楔擠式電子機械制動器是一種藉由推入或拉出楔塊來操控煞車的特殊制動器，這種制動器響應快速而且僅需很小的驅動電流就可以操縱，是目前最可以滿足線控煞車系統需求的設計。儘管具備許多優異的特性，楔擠式電子機械制動器應用於線控煞車的性能表現仍需做進一步的分析和驗證。本論文先對線控煞車技術和發展過程做概略性的介紹，再對楔擠式電子機械制動器和傳統液壓式制動器的結構和性能做比較，然候再建立楔擠式電子機械制動器的數學模型，並分析其可控性、可觀測性及穩定性等動態行為，最後分別用輸入輸出線性化法和最佳LQ追跡法設計兩個追跡控制器，並以電腦模擬分別檢驗這兩種系統的控制性能。The theme of this master thesis is the study of the powerful electromechanical brake (EMB) in the applications of by-wire braking. The research focus is the modeling and control of a special design of EMB termed electromechanical wedge brake (EWB). EWB is characterized with manipulating the braking force by pushing in or pulling out a wedge. This innovative design obtains not only fast response as other EMBs but also small operating current. In spite of the attractive features, its performance and integrity in the by-wire braking system still need to be studied and examined. This context presents firstly the background knowledge and historical remarks on the brake-by-wire technology. Then review and comparison of conventional and EMB brake technologies are shown. The mathematical model of EWB is derived and the dynamical behavior of EWB is analyzed for controllability, observability, stabilizability and detectability. Finally, designs of the closed-loop EWB control system with the input-output linearization method and the optimal LQ tracker method are shown. By numerical experiments, the performance of the closed-loop EWB control systems is verified.摘要 I ABSTRACT II CHAPTER 1 INTRODUCTION 1 1.1 BY-WIRE TECHNOLOGY 1 1.1.1 Throttle-by-wire 5 1.1.2 Steer-by-wire 6 1.1.3 Brake-by-wire 6 1.2 REQUIREMENTS FOR SAFETY CRITICAL BY-WIRE ARCHITECTURES 11 1.3 COMMUNICATION PROTOCOLS IN X-BY-WIRE SYSTEMS 13 1.4 MOTIVATION AND KEY RESULTS 16 CHAPTER 2 OVERVIEW OF AUTOMOTIVE BRAKE SYSTEMS 18 2.1 INTRODUCTION 18 2.2 BRAKE TYPE OVERVIEW 20 2.2.1 Disk brake 21 2.2.2 Drum brake 22 2.3 COEFFICIENT OF FRICTION AND BRAKE EFFECTIVENESS 25 2.4 ANALYSIS OF SELF-REINFORCEMENT WHEEL BRAKES 31 2.4.1 Lever brake 31 2.4.2 Wedge brake 33 2.4.3 Drum brake 35 2.4.3.1 Simplex drum brake 36 2.4.3.2 Duplex drum brake 39 2.4.3.3 Duo servo drum brake 41 2.5 CONCLUSION 49 CHAPTER 3 MODELING AND DYNAMIC ANALYSIS OF SELF-REINFORCEMENT WEDGE BRAKE 50 3.1 INTRODUCTION 50 3.2 MODEL OF WEDGE BRAKE 50 3.3 DYNAMIC ANALYSIS 56 3.3.1 Controllability 57 3.3.2 Observability 67 3.4 STABILITY ANALYSIS 74 3.4.1 Internal stability 75 3.4.2 Input-output stability 77 CHAPTER 4 CONTROL OF SELF-REINFORCEMENT WEDGE BRAKE 81 4.1 INTRODUCTION 81 4.2 DYNAMIC RESPONSE OF WEDGE BRAKE 81 4.3 CONTROL OF WEDGE BRAKE 87 4.3.1 Derivation of the control law 89 4.3.2 Simulation studies 97 4.3.2.1 The push wedge operation 99 4.3.2.2 The pull wedge operation 105 4.3.2.3 The push-pull wedge operation 105 4.3.3 Input-output linearization tracking control 111 4.4 MODELING AND DYNAMIC RESPONSE OF DISC BRAKE 116 4.5 SUMMARY 123 CHAPTER 5 PERFORMANCE EVALUATION OF BY-WIRE BRAKING SYSTEMS 124 5.1 INTRODUCTION 124 5.2 SYSTEM MODELING 124 5.2.1 Single motor wedge brake 124 5.2.2 Single motor EMB model 128 5.2.3 The EHB model 130 5.3 SIMULATION STUDIES 132 CHAPTER 6 CONCLUSION 147 APPENDIX SIMULATION PARAMETERS 149 A.1 SIMULATION PARAMETERS FOR SECTION 4.2 149 A.2 SIMULATION PARAMETERS FOR SECTION 4.3.2.1 149 A.3 SIMULATION PARAMETERS FOR SECTION 4.3.2.2 149 A.4 SIMULATION PARAMETERS FOR SECTION 4.3.2.3 149 A.5 SIMULATION PARAMETERS FOR SECTION 4.3.3 150 A.6 SIMULATION PARAMETERS FOR SECTION 4.3.3 150 REFERENCES 1512383763 bytesapplication/pdfen-US電子機械制動器楔擠式電子機械制動器線控煞車線控駕駛輸入輸出線性化最佳LQ追跡器Electromechanical brake (EMB)electromechanical wedge brake (EWB)by-wire brakingby-wire driveinput-output linearizationoptimal LQ trackerthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/53328/1/ntu-96-R94921008-1.pdf