Ağır hizmet araçları için elektromekanik disk fren denetleyicisi geliştirilmesi.

Nowadays, electronic safety functions such anti-lock brake system (ABS), electronic stability control (ESC) and traction control system (TCS) are integrated to the air brake system of heavy-duty vehicles. The fact that the number of heavy-duty electric vehicles will increase in the future makes inevitable the transition of the brake system architecture from air actuation to electromechanic actuation. The main purpose of this study is to contribute to the development of heavy-duty vehicle electromechanical disc brake controller. A scaled experimental rig was constructed to investigate the dynamics of the electromechanical braking system. In addition, a measurement system has been developed to collect the electromechanical brake system parameters (motor current, motor angular position and clamping force). The system dynamics model of the experimental rig was constructed in Matlab Simulink environment in consideration of linear and nonlinear friction models. Experimental measurements were collected for the determination of the system variables. The simulations were conducted by using linear and nonlinear system dynamics models. The system dynamics model was verified by the comparison of simulation results with the experimental measurements. PI/PID and PI/PID cascade force controllers and PID position controller were developed in Matlab Simulink environment in consideration of the braking performance requirements of heavy-duty vehicle. The controller parameters determined in the virtual environment were defined to the physical control hardware and the experimental measurements were conducted. The performance of the force and position controllers was evaluated by considering the numerical and experimental measurement results. The switching scenario of force - position controller was implemented and functional tests were carried out on the physical system. [ABSTRACT FROM AUTHOR]