Active Disturbance Rejection Control of Electro-mechanical Braking System Using Improved Whale Optimization Algorithm

Abstract

To improve the response speed and disturbance rejection capability of the electro-mechanical braking (EMB) system, this paper proposes a control strategy based on the active disturbance rejection control (ADRC) algorithm. First, a three-stage closed-loop control system is designed, which includes brake clearance elimination, clamping force tracking, and brake clearance regeneration. For the critical stage of clamping force tracking, an ADRC is introduced to improve the adaptability and stability of the system to dynamic changes. Next, to address the difficulty of parameter tuning for the ADRC, an improved whale optimization algorithm (WOA) is developed with enhancements to its adaptive inertia weights and nonlinear convergence factors. Finally, comprehensive simulations of all three operational stages of the EMB system are conducted in the Matlab/Simulink environment to validate the effectiveness of the proposed strategy. The simulation results show that the improved WOA significantly enhances both optimization efficiency and control accuracy, leading to notable performance improvements in the EMB system.