Input–output linearisation applied to the brake torque control of the self-energising electro-hydraulic brake

This paper presents the controller for a self-energising electro-hydraulic brake. A non-linear controller is chosen for the brake torque control of the railway brake, which has the major benefit of achieving predictable dynamics of the brake torque build-up throughout the working range of the self-energising electro-hydraulic brake without controller adjustment. While being more complex in implementation, the non-linear controller is more straightforward in design compared to a proportional controller, which needs to be tuned empirically. This paper focuses on design of the controller, including the required simplification of the mathematical model to the third order. Simulation results show that the desired dynamics can be achieved. Test rig measurements confirm the applicability of the non-linear brake torque controller.