The proposed system provides pedal force amplification and brake force feedback to the driver's pedal using RFOBs. The proposed system performance was simulated and tested using a bilateral teleoperation system with disturbance observers (DOB) and reaction force observers (RFOB). This paper proposes a novel control mechanism that provides amplification of force, scaling of position replication, and a virtual spring-damper based pedal retraction which provides bilateral brake force feedback to the driver's pedal similar to the hydraulic brake system. Even though brake by wire systems has potential advantages, the conventional brake systems' tactile sensation will be removed if migrated to the electrical by wire control scheme. The brake by wire system is developed to overcome the problems associated with the integration of mechanical and hydraulic systems in novel vehicular systems. "By wire" technology merged into multiple vehicular subsystems, including gear changing, drive, and braking systems. This novel generator will be useful for efficient and practical energy harvesting applications during vehicle braking process. A total RMS power of 0.0710 W can be achieved with thirty-six generators embedded in both the inner and the outer brake pads within one brake caliper using APC850 (PZT4) material, and a total RMS power of 1.1226 W can be achieved using PMN-PT-B (PT=0.3-0.33) material at 120 km/h speed of the vehicle. The influences of the dimensional and material properties of the piezoelectric stack, the vehicle speed, the magnetic repulsion, the diameter of the magnetic actuator, the capacitance of the storage capacitor and the distance between rotor center to the actuator on the root mean square (RMS) of the charging power are discussed. The energy harvesting process is evaluated by simulating the transient charging of the storage capacitor through the diode bridge, which was experimentally validated in literature. To illustrate the voltage generation, a mathematical model with experimental verification is established to calculate the electric charge and output voltage considering the charge dissipation. As a result of repulsion between the magnets, the piezoelectric stack will experience compressive forces, creating an electrical charge for generating energy. The magnetic repulsion is generated when two magnets are close to each other, and the force is proportionally changing with the overlapping area of the two magnets. During the braking process, dynamic magnetic repulsion will be generated when the overlapping area of the embedded magnets in the brake pad and brake rotor is changing. Slotted brake rotor with embedded magnets is equipped to ensure the braking performance of the vehicle. The generators are mounted on the backing plate of the brake pad through the perforated friction layer. A novel piezoelectric energy generator embedded in vehicle brake pads and excited by magnetic repulsion is developed.
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