Title: Multi-mode servo braking control and experimentation of integrated electro-hydraulic braking system

Authors: Houhua Jing; Liwen Dong; Qinggan Lin; Haifeng Liu

Addresses: National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changhcun, 130012, China; Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China

Abstract: As the critical problem of electric servo braking control, the relationship between hydraulic pressure, motor position and motor current is systematically analysed. A large hysteresis exists in the pressure-position relationship. Then a multi-mode servo braking control law is proposed based on experimental tests. Firstly, the influence of nonlinear friction is overcome by dither compensation to improve the smoothness of position and pressure. Secondly, the pressure-current cascade control is applied, and the feedforward is obtained based on the experimental data, which effectively avoids the nonlinear and uncertain influence of the pressure-position relationship. Thirdly, position-current cascade control is applied to realise the accurate return of the motor in the release process, and overcome the influence of pressure-position large hysteresis and dead zone. Finally, the control method is comprehensively verified and analysed based on the experimental bench. The practicability of the method is verified.

Keywords: integrated electro-hydraulic braking; servo braking control; multi-mode control; pressure control; position control.

DOI: 10.1504/IJVD.2025.149112

International Journal of Vehicle Design, 2025 Vol.98 No.1/2/3/4, pp.1 - 24

Received: 06 Dec 2023
Accepted: 06 Nov 2024
Published online: 14 Oct 2025 *

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