ADAPTIVE SYSTEM OF CONTROLLING ELECTROMECHANICAL WHEEL BRAKING DEVICE Russian patent published in 2018 - IPC H02K49/00 

FIELD: transportation.

SUBSTANCE: adaptive system for controlling an electromechanical wheel braking device comprises a transport wheel with an attached angular velocity sensor, cinematically connected to the electric brake generator connected via a controlled rectifier with a braking current sensor to a load resistance, as well as a transport wheel sliding calculation unit, and connected in series a programmer, a first adder, a sliding regulator, a second integrator and a braking current regulator, the output of which is connected to the controlling input of the controlled rectifier, the first and the second inputs of the transport wheel sliding calculation unit are connected respectively with the output of the angular transport wheel velocity sensor and the second output of the programmer; the output of the sliding calculation unit is connected to the second input of the first adder, and the output of the braking current sensor is connected to the second input of the second adder; as well as a custom model of the electromechanical transport wheel braking device, a third adder, a nonlinear correction unit of the custom model and the filter, as well as a modal regulator. The first and the second inputs of the custom model are connected, respectively, to the outputs of the first adder and the nonlinear correction unit, and the output of the custom model is connected to the input of the modal regulator; the third and fourth inputs of the first adder are connected, respectively, to the outputs of modal regulator and the filter, the first input of the third adder is connected to the angular transport wheel velocity sensor, and the filter input is connected to the output of the nonlinear correction unit; a state identifier and a fourth adder are additionally introduced; the first and second inputs of the fourth adder are connected, respectively, to the output of the custom model and to the first output of the state identifier, its second output is connected to the second input of the third adder, the first and the second inputs of the state identifier are connected, respectively, to the outputs of the first and the third adders, and the output of the fourth adder is connected to the third input of the custom model and to the input of the nonlinear correction unit.

EFFECT: improved device accuracy and performance while it develops complex software wheel braking modes, including antilock ones, under the conditions of the parameter uncertainty, the manifestation of elastic deformations of a pneumatic tyre in the "contact spot", the stalled nature of dry friction force at its slipping.

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