This paper presents in details the design and implementation on a low cost target of a high performance clamping force estimation method based on Kalman Filter in a Free RTOS environment. The algorithm presented requires only current and voltage measurements. An optimized method to solve the discrete state equation model of the system reduces memory consumption and calculation time. The presented force estimation algorithm can run on a low cost DSPIC target using a proper RTOS. The results obtained using a microchip DSPIC33F give good satisfactory.

Dr.Abdessamed, Ramdane; Marc, Ayache; Adjeté, Wilson; Thierry, Pasquet; Samy, Akourtam; CBI (Chassis Brakes International)