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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.

A controller that fully utilizes the available motor capacity of an electromechanical brake to achieve high closed-loop bandwidth is proposed. The controller is developed based on the time-optimal switching curve derived from Pontryagin's Maximum Principle. The control input is scheduled using a switching surface based on the current motor velocity and position offset. Robustness to modeling errors is achieved by introducing a boundary layer in vicinity of the switching curve, reminiscent of a high gain controller. A flexible tuning procedure is also developed to aid in practical implementation, allowing a balanced choice between tracking speed and energy usage. The controller is implemented on a production-ready prototype EMB, and tested over different braking scenarios to assess the performance and robustness relative to the benchmark controllers. It is demonstrated that significant improvements in step response and dynamic tracking are obtained using the proposed approach.