Abstract Brake-by-wire (BBW) systems are electronically regulated actuators, which are capable of producing a desired braking torque to the vehicle's wheel. This paper focuses on the motor-type electro-hydraulic brake (EHB) system: an electric motor driven rotational-to-linear reducing mechanism that directly pushes the master cylinder to generate hydraulic pressure. A simple and practicable controller is developed to reduce the negative influence of system nonlinearities and uncertainties. Unlike the complicated stribeck-speed-detected and precise-parameter-identified friction model, a novel efficiency model is developed to describe the friction. Sliding mode control is used to reduce the non-parametric disturbances. Adaptation law based on non-smooth mapping is employed to weaken the parametric uncertainties. Desired-state compensation is applied to prevent the real pressure fluctuation weakening the performance of adaptation law. Anti-windup mechanism is adopted to compensate the integral windup action and tracking the desired pressure high-precisely. The stability of system is proved based on the Lyapunov function approach. The simulation and experimental results in the typical braking scenarios are conducted to verify the enhanced performance.

中文翻译：

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基于期望状态和积分抗饱和补偿的电液制动系统自适应滑模压力控制

摘要 线控制动 (BBW) 系统是电子调节的执行器，能够对车轮产生所需的制动扭矩。本文重点介绍电机式电液制动（EHB）系统：一种电机驱动的旋转至线性减速机构，直接推动主缸产生液压。开发了一种简单实用的控制器来减少系统非线性和不确定性的负面影响。与复杂的斯特里贝克速度检测和精确参数识别摩擦模型不同，开发了一种新颖的效率模型来描述摩擦。滑模控制用于减少非参数干扰。采用基于非平滑映射的自适应律来弱化参数不确定性。应用期望状态补偿来防止实际压力波动削弱适应律的性能。采用防饱和机构来补偿积分饱和动作，并高精度地跟踪所需的压力。基于Lyapunov函数方法证明了系统的稳定性。对典型制动场景下的仿真和实验结果进行了验证，以验证增强的性能。