Load and Load Dependent Friction Identification and Compensation of Electronic Non-Circular Gear Brake System

Control of the electronic non-circular gear brake (ENGB) involves challenges, including the non-linear variation of loads and the effect of friction, which is dependent upon load. The controller must be designed based on modelling information in order to enhance control performance. This study performed model identification of the ENGB system using a DOB-based model identification method. By employing the nearest neighbor search method, the even-odd disturbance was separated without the influence of hysteresis even in situations with low control precision. The accuracy of the resulting ENGB system model was validated through experiments. The self-energizing effect due to friction between the brake disc and pad within the mechanical system was also validated.