Fig 1.
(a) Scheme A. (b) Scheme B.
Fig 2.
(a) Structure and working principle: (1) motor stator, (2) motor rotor, (3) head, (4) screw, (5) force sensor, (6) push rod, (7) linear sensor, (8) arm, (9) piston, (10) brake shoes, (11) brake disc, (12) caliper. (b) 3D model.
Fig 3.
Back EMF waveform of BLDC.
Fig 4.
Force analyses of the threaded mechanism.
Fig 5.
Characteristic of the caliper.
Fig 6.
EMB system model.
Table 1.
Key parameters of the EMB system model.
Table 2.
Relationship among vehicle driving conditions, driver’s intentions and pedal behaviors.
Fig 7.
Hidden Markov model structure.
Fig 8.
HMM of driver intentions.
Table 3.
Elements in the HMMs of driver intentions.
Fig 9.
Pedal velocity discretizing results.
(a) Release the accelerator pedal. (b) Hit the brake pedal. (c) Release the brake pedal.
Table 4.
Corresponding relationship between observed states and pedal velocities.
Fig 10.
Hierarchical analysis model of driver intentions.
Table 5.
Trained parameters of the HMMs.
Fig 11.
Recognition results of driver intentions.
(a) Sample 1; (b) Sample 2; (c) Sample 3.
Fig 12.
Overall control architecture.
Fig 13.
Relationship between brake pedal travel and target clamping force.
Fig 14.
Reference current waveform.
Fig 15.
Simulation results of the clamping force response performance.
(a) Clamping force. (b) Motor current. (c) Motor torque. (d) Motor speed.
Fig 16.
Simulation results of the clamping force follow–up performance.
(a) Clamping force. (b) Motor speed.
Table 6.
Parameters of control algorithm.
Fig 17.
Simulation result 1 of the clamping control strategy.
Fig 18.
Simulation result 2 of the clamping control strategy.
Fig 19.
Simulation result 3 of the clamping control strategy.
(a) Clamping force control. (b) Comparison of control effects: with and without pre-elimination brake clearance, and with and without CE.
Table 7.
Simulation results.