A design of electromechanical brake system triple-loop controllers using frequency domain method based on Bode plote

A model of the EMB system is built, the main algorithm to control the EMB actor is completely the triple-loop PI control method, including current-loop, velocity-loop and pressure-loop. The determination of PI parameters is using Bode plots. Then, the software MATLAB is used to analysis on its pressure change in typical working conditions. The result contrast of the simulation and the hardware-in-loop test shows the EMB system can well follow the target brake pressure and the overshoot of the brake pressure is controlled in the requirements range.