重庆理工大学学报2026，Vol.40Issue(11)：9-14,6.DOI:10.3969/j.issn.1674-8425(z).2026.06.002
电子机械制动执行器夹紧力改进滑模自抗扰控制
Improved sliding mode active disturbance rejection control for clamping-force of EMB actuator
摘要
Abstract
To help electronic mechanical brake(EMB)actuator achieve good dynamic and static performance and improve braking stability and safety,this paper develops an improved sliding mode active disturbance rejection control method for EMB actuator clamping-force.First,the mathematical model of the EMB actuator is built.A new type of sliding mode approach law is designed based on the state space equation.According to the exponential approach law,the power term and saturation function of the sliding mode surface are introduced to improve the convergence speed while reducing the system chattering.Then,an improved active disturbance rejection controller based on a new sliding mode approach law is designed for the EMB actuator.Its stability is verified by the Lyapunov function.Finally,the proposed algorithm is compared with the sliding mode control algorithm based on the exponential approach law.Results show the proposed method performs better in tracking and anti-interference.关键词
电子机械制动/滑模控制/自抗扰控制/线控制动Key words
EMB/sliding mode control/active disturbance rejection control/brake-by-wire分类
交通工程引用本文复制引用
丁嘉伟,宋亚东,刘荣荣,谭草..电子机械制动执行器夹紧力改进滑模自抗扰控制[J].重庆理工大学学报,2026,40(11):9-14,6.基金项目
国家自然科学基金项目(5241154023) （5241154023）
山东省自然科学基金项目(ZR2023ME178) （ZR2023ME178）
山东省科技中小企业创新能力提升项目(2023TSGC0404) （2023TSGC0404）
山东省高等学校"青创团队计划"项目(2022KJ232) （2022KJ232）
山东省博士后创新项目(SDCX-ZG-202400198) （SDCX-ZG-202400198）
