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Geometric imperfections on brake rotor surface are well-known for causing periodic variations in brake torque during braking. This leads to brake judder, where vibrations are felt in the brake pedal, vehicle floor and/or steering wheel. Existing solutions to address judder often involve multiple phases of component design, extensive testing and improvement of manufacturing procedures, leading to the increase in development cost. To address this issue, active brake torque variation (BTV) compensation has been proposed for an electromechanical brake (EMB). The proposed compensator takes advantage of the EMB's powerful actuator, reasonably rigid transmission unit and high bandwidth tracking performance in achieving judder reduction.

A novel method for attenuation of brake judder directly at the source is proposed, utilizing an electromechanical brake to actively compensate for the variation in brake torque that causes judder. Taking advantage of the high-bandwidth closed-loop clamp force tracking performance offered by an electromechanical brake, an adaptive compensator is designed to estimate the brake torque variation (BTV), and to produce a compensating clamp force command to cancel it. The compensator is tested over fixed and varying BTV frequencies by employing a production-ready prototype EMB. It is demonstrated that significant BTV attenuation is obtained using the proposed approach.