Method for controlling a braking action applicable by a brake caliper on a mechanical movement member of a vehicle and system thereof
A method for controlling the braking action applicable by a brake caliper on a mechanical movement member of a vehicle is described. An electronic control unit operatively connected to an actuator assembly receives an input signal representative of a braking request. The unit determines a first reference value of a position of a component in the actuator assembly and a second reference value of a parameter representative of the braking action applicable by a brake caliper via the actuator assembly. The unit determines at least one feedback value of the position of a component in the actuator assembly. The unit also generates at least one control signal for the actuator assembly based on feedback values and the reference values.
1. A method for controlling the braking action applicable by a brake caliper on a mechanical movement member of a vehicle, said brake caliper being actuatable by an actuator assembly comprising at least one electric motor and an actuator of the brake caliper, the electric motor being operatively connected to the actuator via a transmission mechanism, the electric motor being configured to operate the actuator via the transmission mechanism, the method comprising steps of:
receiving, by an electronic control unit operatively connected to the actuator assembly, an input signal representative of a braking request;
determining, by the electronic control unit, on the basis of the received input signal:
a first reference value of a position of a component in the actuator assembly;
a second reference value of a parameter representative of the braking action operable by the brake caliper via the actuator assembly;
determining, by the electronic control unit, a first feedback value of the position of a component in the actuator assembly;
determining, by the electronic control unit, a second feedback value of the parameter representative of the braking action applicable by the brake caliper via the actuator assembly;
generating, by the electronic control unit:
a first intermediate control signal of the actuator assembly on the basis of the comparison between the first feedback value of the position of a component in the actuator assembly and the first reference value of the position of a component in the actuator assembly;
a second intermediate control signal of the actuator assembly on the basis of the comparison of the second feedback value of the parameter representative of the braking action applicable by the brake caliper by means of the actuator assembly and the second reference value of the parameter representative of the braking action applicable by the brake caliper via the actuator assembly;
generating, by the electronic control unit, a control signal of the actuator assembly on the basis of the first intermediate control signal of the actuator assembly and of the second intermediate control signal of the actuator assembly;
providing to the electric motor of the actuator assembly, by the electronic control unit, the generated control signal.
2. The method according to claim 1 , wherein the step of determining the first feedback value of the position of a component in the actuator assembly comprises the steps of:
determining, by the electronic control unit, a first current value of the position of a component of the actuator assembly;
compensating, by the electronic control unit, the effect of the transmission mechanism present in the actuator assembly on the determined first current value of the position of a component of the actuator assembly.
3. The method according to claim 2 , wherein the step of determining a first current value of the position of a component of the actuator assembly comprises a step of measuring, by one or more position detection sensors, the position of the component in the actuator assembly.
4. The method according to claim 3 , wherein the step of determining a first current value of the position of a component of the actuator assembly comprises a step of estimating, by the electronic control unit, the position of the component in the actuator assembly.
5. The method according to claim 1 , wherein the step of determining the second feedback value of the parameter representative of the braking action applicable by the brake caliper via the actuator assembly comprises a step of measuring, by one or more actuators, the parameter representative of the braking action applicable by the brake caliper via the actuator assembly.
6. The method according to claim 1 , wherein the step of determining the second feedback value of the parameter representative of the braking action applicable by the brake caliper via the actuator assembly comprises a step of estimating, by the electronic control unit, the parameter representative of the braking action applicable by the brake caliper by means of the actuator assembly.
7. The method according to claim 1 , wherein the first intermediate control signal and the second intermediate control signal are respectively a first error signal and a second error signal, the step of generating comprising the steps of:
selecting, by the electronic control unit, one of or a combination of said first error signal and said second error signal;
determining, by the electronic control unit, the control signal of the actuator assembly on the basis of said one of the first error signal and the second error signal.
8. The method according to claim 1 , wherein the first intermediate control signal and the second intermediate control signal are respectively a first speed value and a second speed value coming from the control of the parameter representative of the braking action of the actuator assembly and the control of the position of the component in the actuator assembly, the step of generating comprising the steps of:
selecting, by the electronic control unit, one of or a combination of said first speed value and said second speed value;
determining, by the electronic control unit, the control signal of the actuator assembly on the basis of the comparison between said one of said first speed value and the second speed value and a speed feedback value of the electric motor of the actuator assembly.
9. The method according to claim 1 , further comprising a step of adapting, by the electronic control unit, the position of the component in the actuator assembly and the parameter representative of the braking action applicable by the brake caliper via the actuator assembly on the basis of stiffness variations of the brake caliper.
10. The method according to claim 9 , wherein the step of adapting comprises a step of identifying, by the electronic control unit, a variation of stiffness of the brake caliper by comparing a current stiffness value of the brake caliper with a nominal stiffness value of the brake caliper, starting from a set of reference values of the position of the component in the actuator assembly and of the parameter representative of the braking action applicable by the brake caliper by means of the actuator assembly.