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SAE 009 Annual onference oyriht c 009 SAE 비구형기어를이용한자기강화브레이크시스템의강인제어로직개발 박희람 * 1) 최세범 1) 김주곤 ) 김명준 ) The eveloment of Robust Loic for Self-Enerizin Brake system usin Noncircular Gear Heeram Park *1) Seibum hoi 1) ooon im ) younjune im ) 1) orea Advanced Institute of Science and Technoloy, 373-1 Guseon-don, Yuseon-u, aejeon, 305-701, orea ) ANO o. entral R& enter, 413-5, Gomae-don, Giheun-u, Yonin-si, yoni-do, 446-901, orea Abstract : Simens VO, German electronic and mechatronic develoer announced an innovative brakin device called Electronic Wede Brake (EWB). It uses self-enerizin effect, so it is the most enery-effective brakin device amon Brakeby-Wire systems which is comatible with existin 1 Volts system. A new tye of EWB which is called Electronic Noncircular Gear Brake was develoed by S. im and S. hoi. This brake system has the ossibility alyin variable wede anle to system by usin noncircular ears. But, as the brake also uses self enerizin effect, it is very sensitive to arametric variance. For this reason adative controller was develoed by Y. Hwan and S. im. In this research, the erformance of revious adative controller is discussed. Based on the revious work, a modified adation alorithm is roosed and verified by numerical simulation. ey words : EWB(Electronic Wede Brake), EB(Electro-echanical Brake), ENGB(Electronic Noncircular Gear Brake), Self-enerizin effect(), brake-by-wire( ), brake calier stiffness( ), brake ad friction coefficient( ) Nomenclature : stiffness, N/m : damin coefficient Subscrits al : brake calier Axial : screw axle *, E-mail: hrark@kaist.ac.kr

d v = d Ri + d d s dt ψ ω ψ d v = Ri + s d dt ψ + ω ψ ψ = Li, ψd = Li d d + φ v d v i d i L d L ψ d ψ L n FiElectronic noncircular ear brake system ψ af ω ωs = nω i d ψ d = ψaf 3 T = nψ afi = i t 3 t = nψ af i = i L i& = Ri eω + u L = L e = nψ af u = v ωs R φ T = n ψ afi + ( Ld L) idi 3 T = T + & ω

FiParallel direction dislacement of ad FiNoncircular Gear and Pad x y x y θ x = d(1 cos θ) + rθ y = dsinθ x = x y = y FiNormal direction dislacement of ad TableError of Aroximation µ m µ m x = rθ y = dθ x = x = rθ y = y = dθ

mx && = F cos β + Fb FPx F = µ F b N my && = F sin β F + F N Py m µ F N FiParallel direction dislacement of ad TableError of Aroximation F N F FN = aly ' y al al N = F y = ' N al F x L x& L F = Axial θ Axial ω cos β π cosβ π πη T = LF L Axial Axial L η mx && = F F Px Rx my && = F + F Ry Py ( sin )( ) cos ( ) && θ = r+ d θ F + F d θ F + F Rx Px Ry Py r+ dsin θ = r, dcosθ = d ( ) ( ) && θ = r F + F d F + F Rx Px Ry Py FRx FRy FPy FPx d sinθ r r r+ dsinθ r T x = θ ω θ ω i ( θ ) y = H (x) = d = 4d θ ' ' al al

0 1 0 0 0 0 1 θ 3 4 5 0 0 0 0 0 1 0 x& = x 0 + u 1 3 4 5 0 θ 0 0 0 e R 1 θ L L L ' + ( r + d )( 4 m + m ) = 4π r al ( tanα µ ) 4d π θ = θ + θ r L cos β Axial ( cos β + tanαsin β) L Axial ( cos β + tan α sin β )( r ) 1 = cos β θ ' ( tan )( ) al α µ d = Axial ( cos β + tan α sin β )( r ) 3 = cos β Axial ( cos β + tan α sin β ) L 4 = π Axial ( cos β + tan α sin β ) L 5 = π Axial ( r) L 1 = Axial ( r) L = πη cos β πη cos β AxialL = AxialL 3 4 4π η = 4π η FiRelation between otor Position and Gear Anle 5 = Axial al θ θ 4π r θ = θ L cos β F al tan α ( tanα µ ) L cos β F = θ ( cos β + tanα sin β ) 4π e 1 i = ω + u R R t e t T = ω + u R R x = [ θ ] T ω 0 1 0 x& = x u 1θ +

( ) L ( + ) 3 al tan α tan α µ cos β 1 = 3 cos β tan α sin β 8π η t e =, R = t R µ ' y = FN = hθ kald L cos β h = 4π r ) 1 u= ˆ1θ+ ω+ & ωd ( λ+ )( ω ωd) λ( θ θ ) d s& s& = ( 1 ˆ 1) θ s FN θ θ s& = n ( µ ˆ µ ) θ s 3 al tan α L cos β θ n = 3 ( cos β + tan α sin β ) 8π η ε = y y d = θ θ d 1 α V = s + % µ > 0, % µ = µ ˆ µ, α > 0 d s = + λ ε = & ε + λε dt V s& = && ε + λε& = & ω & ωd + λ( ω ωd ) & = s s& + αµ % & ˆ µ = s n( µ ) µ ) θ ( ) ˆ s + α µ ) µ & µ = 1θ ω + u & ωd + λ( ω ωd) = s ( µ ) µ )( nθ ˆ s α & µ ) V & s& = s u V& = s 0 1 u= 1θ+ ω+ & ωd ( λ+ )( ω ωd) λ( θ θd) ˆ& n µ = θ s α α θ = + α 1 > 0, α > 0 F F N µ µ µ α α α θ 1, µ

FiPad friction coefficient adatation (solid: lant mu, dotted: w/ 07 adative controller, small dotted: adatation switch, dashed: w/ 08 adative controller) Fi Slidin mode controller with various friction coefficient (solid: reference, dotted: lant mu=controller mu=0.38, small dotted: lant mu =0., dashed: lant mu =0.6) FiAdative controller with low friction coefficient (solid: reference, dotted: w/o adatation, small dotted: w/ 07 adative controller, dashed: w/ 08 adative controller) Fi Adative controller with hih friction coefficient (solid: reference, dotted: w/o adatation, small dotted: w/ 07 adative controller, dashed: w/ 08 adative controller) FiPad friction coefficient adatation (solid: lant mu, dotted: w/ 07 adative controller, small dotted: adatation switch, dashed: w/ 08 adative controller)

FiAdative controller with small reference inut (solid: reference, dotted: w/o adatation, small dotted: w/ 07 adative controller, dashed: w/ 08 adative controller) FiParallel direction dislacement of ad (solid: lant mu, dotted: w/ 08 adative controller, small dotted: adatation switch, dashed: w/ 09 adative controller) FiParallel direction dislacement of ad (solid: lant mu, dotted: w/ 07 adative controller, small dotted: adatation switch dashed: w/ 08 adative controller) FiAdative controller with various friction coefficient (Solid: reference, dotted: w/ 08 adative controller, dashed: w/ 09 adative controller) FiParallel direction dislacement of ad (solid: lant mu, dotted: w/ 08 adative controller, small dotted: adatation switch, dashed: w/ 09 adative controller)

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