IP Library › Granted Patent US 7,630,813
Granted Patent B2
US 7,630,813 · App. 11/447,708 · Granted Dec 8, 2009

Method for controlling electromechanical brakes using parameter identification and no additional sensors

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Quick Facts
Patent No.
US 7,630,813
App. No.
11/447,708
Granted
Dec 8, 2009
Kind
B2
Abstract

A method for controlling a force exerted by an actuator on a load, the actuator being driven by a motor, the method including the steps of modeling the force as a function of at least one parameter, the parameter having an initial value, determining a new value for the parameter, determining an observed force based at least in part upon the new value for the parameter and controlling a positioned of the actuator based at least in part upon the observed force.

Claims (19)

1. A method for controlling a force exerted by an actuator on a load, said actuator being driven by a motor, said motor having a detectable motor condition, said method comprising the steps of:

modeling said force using mathematical equations, wherein the force is a function of said motor condition and said motor condition comprises at least one parameter used in said mathematical equations, said parameter having an initial value;

receiving a signal indicative of said motor condition;

applying a known force command to said mathematical equations to determine a new value for said parameter based upon said known force command and said signal, said new value being different than said initial value;

determining an observed force based at least in part upon said new value for said parameter and said signal; and

controlling said force exerted by said actuator based at least in part upon said observed force.

2. The method of claim 1 wherein at least one of said parameter is selected from the group consisting of a linear stiffness coefficient, a nonlinear stiffness coefficient, a motor damping coefficient, and a motor torque constant.

3. The method of claim 1 wherein said parameter includes a linear stiffness coefficient, a nonlinear stiffness coefficient, and a motor damping coefficient.

4. The method of claim 1 wherein said parameter includes a linear stiffness coefficient and a nonlinear stiffness coefficient.

5. The method of claim 1 wherein at least one of said parameter is selected from the group consisting of a motor angle, a motor angular velocity, and a motor current.

6. The method of claim 1 wherein said known force command is applied with dither.

7. The method of claim 1 further comprising the step of storing said new value in a memory.

8. The method of claim 7 wherein said storing step includes the step of removing said initial value from said memory.

9. The method of claim 1 wherein said controlling step includes minimizing an error between a command force signal and said observed force.

10. The method of claim 1 wherein said new value is determined off line.

11. The method of claim 1 wherein said new value is determined on-line.

12. The method of claim 1 wherein said signal is received from a sensor capable of detecting said motor condition.

13. The method of claim 12 wherein said sensor is a Hall-Effect sensor.

14. The method of claim 12 wherein said sensor is a motor position sensor.