Hybrid Power Control Strategy for Electromechanical Braking System Based on Sliding Mode Approach

In this article, a new hybrid power reaching law (PRL) is designed for the clamping force control of electromechanical braking (EMB) system. In order to overcome the chattering and slow global convergence of the traditional reaching law, a new arccotangent type auxiliary function is designed and the exponential term is optimized to realize the real-time adjustment of the gain coefficient, which can effectively improve the adaptive ability and convergence speed of sliding mode in different reaching stages. The existence, reachability and global finite time convergence of the new reaching law are proved. On this basis, a compound control method of clamping force for EMB system is proposed, which combines the proposed new hybrid PRL with disturbance observer to effectively carry out feedforward compensation, and the stability analysis method is proposed. Finally, the effectiveness and superiority of the proposed control strategy are verified by experimental platform.