Control method for electro-mechanical brake system
View Patent ↗Disclosed is a method for controlling an electro-mechanical brake system including a cascade controller, in which a position controller, a speed controller and a current controller are integrated to control a motor. The method includes determining whether an actual speed of a motor exceeds a command speed of the motor in an early stage of a motor operation; and restricting speed reduction of the motor until a braking force is generated if the actual speed of the motor exceeds the command speed of the motor in the early stage of the motor operation. Speed reduction of the motor is restricted until braking force is generated even if a speed error (actual speed of the motor>command speed of the motor) occurs in the early stage of the motor operation in the EMB system, thereby improving the braking responsiveness.
1. A method for controlling an electro-mechanical brake system including a cascade controller, in which a position controller, a speed controller and a current controller are integrated to control a motor, the method comprising:
determining whether an actual speed of a motor exceeds a command speed of the motor in an early stage of a motor operation; and
restricting speed reduction of the motor until a braking force is generated if the actual speed of the motor exceeds the command speed of the motor in the early stage of the motor operation.
2. The method of claim 1 , wherein the restricting of speed reduction of the motor includes setting an output command of the speed controller to zero.
3. The method of claim 1 , wherein the restricting of speed reduction of the motor includes controlling an input command of the current controller such that a predetermined current suitable for preventing the motor from being accelerated is applied to the motor.
4. The method of claim 1 , wherein the restricting of speed reduction of the motor includes controlling an input command of the current controller such that a predetermined current proportional to a position error of the motor is applied to the motor.