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    <title>Transport Research International Documentation (TRID)</title>
    <link>https://trid.trb.org/</link>
    <atom:link href="https://trid.trb.org/Record/RSS?s=PHNlYXJjaD48cGFyYW1zPjxwYXJhbSBuYW1lPSJkYXRlaW4iIHZhbHVlPSJhbGwiIC8+PHBhcmFtIG5hbWU9InN1YmplY3Rsb2dpYyIgdmFsdWU9Im9yIiAvPjxwYXJhbSBuYW1lPSJ0ZXJtc2xvZ2ljIiB2YWx1ZT0ib3IiIC8+PHBhcmFtIG5hbWU9ImxvY2F0aW9uIiB2YWx1ZT0iMCIgLz48L3BhcmFtcz48ZmlsdGVycz48ZmlsdGVyIGZpZWxkPSJpbmRleHRlcm1zIiB2YWx1ZT0iJnF1b3Q7RWxlY3RyaWMgYnJha2VzJnF1b3Q7IiBvcmlnaW5hbF92YWx1ZT0iJnF1b3Q7RWxlY3RyaWMgYnJha2VzJnF1b3Q7IiAvPjwvZmlsdGVycz48cmFuZ2VzIC8+PHNvcnRzPjxzb3J0IGZpZWxkPSJwdWJsaXNoZWQiIG9yZGVyPSJkZXNjIiAvPjwvc29ydHM+PHBlcnNpc3RzPjxwZXJzaXN0IG5hbWU9InJhbmdldHlwZSIgdmFsdWU9InB1Ymxpc2hlZGRhdGUiIC8+PC9wZXJzaXN0cz48L3NlYXJjaD4=" rel="self" type="application/rss+xml" />
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    <language>en-us</language>
    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
    <docs>http://blogs.law.harvard.edu/tech/rss</docs>
    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
    <image>
      <title>Transport Research International Documentation (TRID)</title>
      <url>https://trid.trb.org/Images/PageHeader-wTitle.jpg</url>
      <link>https://trid.trb.org/</link>
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    <item>
      <title>Experimental investigation on the dynamic performance of a heavy haul locomotive and its coupler and buffer system under longitudinal forces</title>
      <link>https://trid.trb.org/View/2683124</link>
      <description><![CDATA[This paper presents a systematic experimental investigation on the dynamic performance and compressed stability of heavy haul locomotives under longitudinal forces for the first time. A series of 10,000-tonne heavy haul train field tests with different locomotives traction in the head are designed and conducted under the same conditions of line and operation. Four different kinds of heavy haul locomotives are choosen and tested in turn. They have different structural parameters and are equipped with the 100-type flattened pin or 102-type cylindrical pin couplers respectively. The testing content includes the train passing through 12# turnout branch line and running on the long downhill line with locomotive electric brakes. The dynamic responses of the second locomotive in the head and its coupler and buffer system are measured and analyzed. And then the mechanism and influence law of the coupler types and locomotive structure parameters are investigated comprehensively. Results indicate that the cylindrical pin coupler has the better deflection direction followability with the curve direction variation than that of the flatten pin coupler, and thus is more conducive to the locomotive running safety of curve negotiation under longitudinal compressive forces. Both locomotive secondary lateral stiffness and lateral stop have a significant effect on the system compressed stability, and the matching relationships between these suspension parameters and the two types of couplers are different. By the reasonable optimization of suspension parameters, both the locomotives equipped with the flattened pin or cylindrical pin coupler could maintain a good compressed stable state under the normal longitudinal forces of 1000 kN, and have little difference in their dynamic performance.]]></description>
      <pubDate>Tue, 30 Jun 2026 17:02:35 GMT</pubDate>
      <guid>https://trid.trb.org/View/2683124</guid>
    </item>
    <item>
      <title>Prescribed Performance Clamping Force Control for EMB of Intelligent Electric Vehicles Considering Lumped Disturbance</title>
      <link>https://trid.trb.org/View/2665574</link>
      <description><![CDATA[As a critical component of intelligent electric vehicles (IEVs), the clamping force control of electromechanical brake (EMB) system is affected by the lumped disturbance such as nonlinear stiffness characteristics, friction uncertainties, and unmodeled dynamics, resulting in deteriorated response performance. Aiming at this problem, this article proposes a prescribed performance nonsingular fast terminal sliding mode control (PPNFTSMC) strategy with an embedded high-order super-twisting observer (HOSTO). First, an exponentially decaying function is used to establish a prescribed clamping force tracking error constraint boundary. Subsequently, the tracking error constrained problem is converted into a transformed error bounded problem through a logarithmic barrier function. Second, a HOSTO is designed to estimate the lumped disturbance and embedded in the finite-time fast-convergent PPNFTSMC. This approach successfully helps the clamping force regulator to maintain robustness against the lumped disturbance under small control gains. Furthermore, the closed-loop stability of the proposed strategy is analyzed by Lyapunov theory. Finally, the simulations and hardware-in-the-loop (HiL) experiments show that the proposed strategy improves the clamping force control performance by at least 25% compared to various NFTSMC and extended state observer (ESO) strategies under different working conditions.]]></description>
      <pubDate>Wed, 10 Jun 2026 13:40:31 GMT</pubDate>
      <guid>https://trid.trb.org/View/2665574</guid>
    </item>
    <item>
      <title>Parameters Estimation for PMSM of Electromechanical Braking System Under Low Adhesion Braking</title>
      <link>https://trid.trb.org/View/2665562</link>
      <description><![CDATA[Electromechanical braking (EMB) is an important braking system. It is necessary to maintain the effect of anti-lock-braking (ABS) on a low adhesion road surface. After multiple clamping releases, the motor parameters degenerate, resulting in EMB braking decline. Therefore, a PI adaptive control (PIAC) method based on threshold trigger parameter estimation (TTPE) is proposed for a permanent magnet synchronous motor (PMSM) in the EMB system. First, the dynamic model of PMSM is established, and the inertia of PMSM is identified offline by the acceleration and deceleration method (ADM). Then, a parameter recognition method based on threshold trigger (TT) is constructed, which mainly includes neural network recognition and neural network identification (NNI). Finally, based on the identified parameters, the PIAC is dynamically adjusted to realize the effective adjustment of EMB. Simulation and experimental results show that this method can effectively improve the robustness of motor control and solve the problem of deviation of control effect after EMB braking for a long time.]]></description>
      <pubDate>Tue, 09 Jun 2026 14:43:23 GMT</pubDate>
      <guid>https://trid.trb.org/View/2665562</guid>
    </item>
    <item>
      <title>Research on Vehicle and Longitudinal Tire Model Parameters Identification Based on Electro-Mechanical Brake System</title>
      <link>https://trid.trb.org/View/2692015</link>
      <description><![CDATA[The Electro-Mechanical Brake (EMB) system is a novel type of brake by wire systems with independently controllable characteristics. This system aids in the decoupling analysis of the vehicle and actuator dynamics, thereby improving the accuracy of parameter identification. Therefore, this paper proposes an innovative parameter identification method for vehicle parameters and longitudinal tire model parameters, based on the characteristics of the EMB system and onboard sensors. First, based on the wind resistance and rolling resistance coefficients obtained from the vehicle coasting conditions, a decoupled constant clamping force sequence braking condition for the front and rear axles is designed by integrating the characteristics of the EMB actuator and vehicle dynamics. This approach enables the identification of vehicle and nonlinear longitudinal tire model parameters, significantly improving the accuracy of parameter identification. Next, considering the nonlinear characteristics of the longitudinal tire model, a factorial experiment is conducted to analyze the impact of the Particle Swarm Optimization (PSO) optimization algorithm parameters on the identification process from three perspectives: iteration count, computation time, and optimal function value. Furthermore, the effectiveness of three PSO variants: the Compressed Factor PSO (CF-PSO), the Adaptive Weight PSO (AW-PSO), and the Hybrid PSO (H-PSO), was investigated for identifying the nonlinear characteristics of the longitudinal tire model. Finally, through data simulation and real-vehicle experiments on both high-adhesion and low-adhesion roads, the effectiveness and accuracy of the proposed vehicle parameter and longitudinal tire model parameter identification method based on EMB system characteristics are verified through a comprehensive evaluation of multiple indicators, and the method’s validity is further confirmed using data backfill and model benchmarking.]]></description>
      <pubDate>Tue, 14 Apr 2026 15:11:23 GMT</pubDate>
      <guid>https://trid.trb.org/View/2692015</guid>
    </item>
    <item>
      <title>Modular 3-D Lumped-Parameter Thermal Network for Thermal Estimation of Permanent-Magnet Synchronous Motors in Electromechanical Braking Systems</title>
      <link>https://trid.trb.org/View/2691897</link>
      <description><![CDATA[As electric intelligent vehicles advance, drive-by-wire systems are increasingly adopted, and the thermal reliability of electromechanical brake (EMB) motors—the key actuators—remains safety-critical. Under stalled-rotor operation, unequal DC currents are typically applied to the three phases, producing nonuniform winding heating. Conventional thermal models can miss the associated tangential heat-transfer effects, increasing the risk of phase-wise end-winding hot spot. This paper analyzes EMB motor thermal behavior under stalled-rotor conditions using a modular 3-D lumped-parameter thermal network (LPTN). First, a standardized tooth module with external interfaces is developed. Its internal parameters are informed by experiments and computational fluid dynamics (CFD) and identified via particle swarm optimization (PSO), allowing the module to be encapsulated for reuse. Next, based on the machine topology, a minimal motor is derived and multiple tooth modules are interconnected through common nodes to form a modular 3-D LPTN that resolves radial, axial, and tangential heat-flow paths. Finally, a stepwise, weighted PSO is applied—module level followed by system level—to calibrate the full network. The tooth-module abstraction also enables rapid network assembly, and the boundary-cooling and loss-allocation modules can be updated to accommodate different cooling architectures and heating patterns while retaining the same internal formulation. Bench tests with inhomogeneous three-phase heating, validated against three-phase end-winding thermocouple measurements, show that the proposed model predicts temperatures more accurately than existing LPTNs. These results indicate that explicitly accounting for tangential heat exchange can improve temperature prediction for EMB motors under stalled-rotor duty and provides a reusable template for other concentrated-winding machines subject to nonuniform thermal loading.]]></description>
      <pubDate>Tue, 14 Apr 2026 15:11:21 GMT</pubDate>
      <guid>https://trid.trb.org/View/2691897</guid>
    </item>
    <item>
      <title>Analysis of the influence of brake pipe pressure gradient on heavy haul combined train and optimisation of operation strategy</title>
      <link>https://trid.trb.org/View/2633019</link>
      <description><![CDATA[In this paper, based on the theory of gas flow, the action logic of the control valve, and the principle of multi-rigid-body dynamics, a simulation model of the 20,000 t heavy haul combined train is established to investigate the influence of brake pipe pressure gradient on the braking performance, longitudinal dynamics, braking and release characteristics of trains. Utilizing real railway line conditions, locomotive and vehicle parameters, and train operation monitoring equipment (LKJ) record data of Shuozhou-Huanghua Railway, the cyclic braking condition of the train on the long and steep downhill is simulated, and the control strategy of reducing the coupler force during the cyclic braking is proposed. The results indicate that a larger brake pipe pressure gradient before braking leads to weaker braking capability, and higher coupler forces during braking, but smaller coupler forces during release. As the brake pipe pressure gradient before braking increases, braking synchronicity decreases, while release synchronicity slightly improves. By adjusting the locomotive’s electric braking force during the cyclic braking, it is possible to appropriately increase the brake pipe pressure gradient before braking, effectively reducing coupler forces during release and reducing the number of braking cycles, thus lowering the operational difficulty of the train.]]></description>
      <pubDate>Fri, 20 Feb 2026 09:04:07 GMT</pubDate>
      <guid>https://trid.trb.org/View/2633019</guid>
    </item>
    <item>
      <title>Integration of braking control systems in electric vehicles with active safety and driver-assistance technologies</title>
      <link>https://trid.trb.org/View/2620536</link>
      <description><![CDATA[Technology and science keep improving, so cars get more competent and use more electricity. To keep up, they need better brakes. A longitudinal dynamics control system for cars was shown to speed them up and improve the stopping system. The motor and power make this setup work. The electric mechanical stopping system also improved when noise control was added. The electric mechanical stopping system can get the holding force it needs in 0.01 seconds when self-disturbance rejection control and proportional integral differential control are used together. The proportional integral differential system doesn't work well in that time range because it has too much power. This means that the binding force stays the same. Based on what was shown above, the car's longitudinal dynamics control system, works quickly and satisfactorily. This keeps the vehicle from going too fast, and it also helps you drive better in general.]]></description>
      <pubDate>Tue, 17 Feb 2026 13:12:37 GMT</pubDate>
      <guid>https://trid.trb.org/View/2620536</guid>
    </item>
    <item>
      <title> Enhancing Robustness of Electro-Hydraulic Brake-by-Wire Actuators via Linear Active Disturbance Rejection Control</title>
      <link>https://trid.trb.org/View/2600541</link>
      <description><![CDATA[In recent years, motorsport has increasingly focused on environmental concerns, leading to the rise of hybrid and fully electric competitions. In this scenario, electric motors and batteries take a crucial role in reducing the environmental impact by recovering energy during braking. However, due to inherent limitations, motors and battery cannot fully capture all braking power, necessitating the use of standard friction brakes. To achieve an efficient balance between electric motors and friction brakes, the brake pressure can no longer be directly controlled by the driver. Instead, it must be computed by the Vehicle Control Unit (VCU) and sent to a smart actuator, i.e. the Brake-By-Wire (BBW), which ensures that the required pressure is applied. The standard approach to achieve precise pressure control is to design a nested Proportional-Integral-Derivative (PID) control architecture, which requires an accurate nominal model of the system dynamics to meet the desired tracking performance. However, in motorsport applications, actuator dynamics are complex to identify, car-dependent, and, most importantly, time-varying due to factors like temperature changes and wear. These challenges make PID controllers based on nominal models less robust, both in terms of stability and tracking performance. To address these challenges, this paper proposes a robust architecture based on a cascade Linear Active Disturbance Rejection Control (LADRC) scheme for an electro-hydraulic actuator. The architecture consists of an inner loop, based on a second-order LADRC, which controls the piston position, and an outer loop, which employs a first-order LADRC to regulate the pressure. Compared to standard PID controllers, the LADRC approach promises two key advantages: it is faster and easier to tune while offering increased robustness. The proposed control scheme is experimentally validated on a test bench using a state-of-the-art BBW system and a racing car hydraulic line highlighting an increased robustness compared to a standard PID scheme.]]></description>
      <pubDate>Tue, 16 Sep 2025 11:05:59 GMT</pubDate>
      <guid>https://trid.trb.org/View/2600541</guid>
    </item>
    <item>
      <title>Applying Specialized System Analysis for Brake by Wire in Software Defined Vehicles: The Development of a System Analysis Tool (SAT)</title>
      <link>https://trid.trb.org/View/2600533</link>
      <description><![CDATA[The emergence of Software Defined Vehicles (SDVs) has introduced significant complexity in automotive system design, particularly for safety-critical domains such as braking. A key principle of SDV architecture is the centralization of control software, decoupled from sensing and actuation. When applied to Brake-by-Wire (BbW) systems, this leads to decentralized brake actuation that demands precise coordination across numerous distributed electronic components. The absence of mechanical backup in BbW systems further necessitates fail-operational redundancy, increasing system complexity and placing greater emphasis on rigorous system-level design validation. A comprehensive understanding of component interdependencies, failure propagation, and redundancy effectiveness is essential for optimizing such systems.This paper presents a custom-built System Analysis Tool (SAT), along with a specialized methodology tailored for modeling and analyzing BbW architectures in the context of SDVs. The operation of the SAT is described in detail, and its application is demonstrated through illustrative examples derived from a representative BbW system model. The SAT enables systematic evaluation of individual component failures, their logical and functional interdependencies, and the cumulative impact of multiple simultaneous faults. It provides structured, data-driven insights that support early trade-off decisions between cost, complexity, and safety, and facilitates the generation of robust, traceable functional requirements. Additionally, the SAT quantifies the relationship between component failure rates, expressed in Failures in Time (FIT), and system-level performance degradation across multiple defined operational states.By enabling a rigorous, model-based approach to design exploration and fault analysis, the SAT enhances system engineers' ability to validate fail-operational behavior, identify design weaknesses, and refine brake system architecture. This supports a more efficient development process for safety-critical systems and contributes to the overall reliability and performance of BbW implementations within SDV platforms.]]></description>
      <pubDate>Tue, 16 Sep 2025 11:05:59 GMT</pubDate>
      <guid>https://trid.trb.org/View/2600533</guid>
    </item>
    <item>
      <title>Active Online Estimation of the Electromechanical Brake Coulomb Friction</title>
      <link>https://trid.trb.org/View/2600526</link>
      <description><![CDATA[Electro-mechanical braking (EMB) system has emerged as a potential candidate that serves the brake-by-wire technology. Several mechanisms are used to transmit the clamp force, where each has efficiency losses due to static friction and viscous damping. Compensating these losses is essential for accurate responses such that meeting the performance goal and improving the stopping distance of the EMB. Mathematical and empirical models are used to estimate these losses so that clamp force is accurately estimated and controlled. However, none of these models are capable of addressing the part-to-part variation or predicting the impact of other noise factors on these losses such as operating temperature and degradation. The purpose of this work is to online estimate the EMB coulomb friction by introducing an external torque command over a period of time while observing the system’s response. This approach continuously measures the coulomb friction while the system is in normal operation which allows for dynamic compensation for these losses leading to more accurate clamp force controls for EMB. In this EMB system, after each brake release, the inner pad is retracted to a pre-defined position, where an air gap is controlled to prevent drag. The algorithm considers safety aspects, hence, it is designed to operate right after the home position is achieved and only while system is in clearance state avoiding the possibility of drag. The simulation and experimental results showed relatively accurate estimation for the coulomb friction of different operating temperatures and parts conditions.]]></description>
      <pubDate>Tue, 16 Sep 2025 11:05:59 GMT</pubDate>
      <guid>https://trid.trb.org/View/2600526</guid>
    </item>
    <item>
      <title>Actuator-to-Vehicle Joint Estimation of Clamping Force for Sensorless Control of the Electro-Mechanical Brake System</title>
      <link>https://trid.trb.org/View/2600477</link>
      <description><![CDATA[The electro-mechanical brake (EMB) is a promising brake actuating system for electrified vehicle. To enhance the system function safety while saving space from redundancy sensors, this paper studied sensorless climbing force control for the EMB where a new climbing force estimator is proposed by fusing the information from vehicle dynamics and EMB states. The work was done with three contributions: 1) The priori clamping force characteristics were implemented to build the estimator with two parallel models, one of which was derived from the actuator rigid-body dynamics while the other was derived from vehicle longitudinal dynamics model; 2) a proportional-integral (PI) observer utilizing wheel speed residual signals was developed to correct the initial estimates iteratively; 3) a fuzzy control controller was proposed to optimize the key parameters of the PI observer. Comparative study was conducted on a co-simulation platform and the results showed that the actuator-to-vehicle joint estimation method can reduce more than 28% root mean square error (RMSE) compared with the conventional actuator model-based estimation method by utilizing PI observer. After the optimization of key parameters, the optimal ratio can reach 32%. Robustness analysis demonstrated that the climbing force estimations accuracy across the studied distinct braking scenarios were consistency.]]></description>
      <pubDate>Tue, 16 Sep 2025 11:05:58 GMT</pubDate>
      <guid>https://trid.trb.org/View/2600477</guid>
    </item>
    <item>
      <title>A Regenerative Braking Strategy for Independently Driven Electric Wheel Accounting for Contemporary Use of Electric and Hydraulic Brakes</title>
      <link>https://trid.trb.org/View/2407471</link>
      <description><![CDATA[The growth of electric mobility showed the possibility of reinventing the vehicle powertrain layout. The adoption of one motor per wheel allows to precisely control the driving and braking torque on each wheel. However, conventional friction brakes are necessary to guarantee top braking performance of the car since, in general, the braking toque by electric motor is not enough to perform maximum deceleration maneuvers. A suitable blended braking distribution strategy must be designed to distribute the torques on the wheel by accounting for the vehicle state, the driver request, and the torque vectoring request by stability control algorithm. This paper presents and optimal control strategy that distributed the braking torques on the wheel accounting for electric and hydraulic brakes. The control algorithm considers than the regulations requirements, the wheel vertical load condition both in longitudinal and lateral dynamics conditions, and the request by driver and stability control.]]></description>
      <pubDate>Mon, 28 Jul 2025 08:55:35 GMT</pubDate>
      <guid>https://trid.trb.org/View/2407471</guid>
    </item>
    <item>
      <title>Braking Force Distribution Strategy for Brake-by-Wire Systems:
                    Enhancing Safety and Redundancy</title>
      <link>https://trid.trb.org/View/2571665</link>
      <description><![CDATA[
                
                Brake-by-wire (BBW) systems, characterized by fast response, high precision, ease
                    installation, and simplified maintenance, are highly likely to become the future
                    braking systems. However, the reliability of BBW is currently inferior to that
                    of traditional hydraulic braking systems. Considering ECE R13 regulations,
                    actuator reliability, and braking efficiency, this article first proposes a new
                    braking force distribution strategy to prevent braking failure and enhance
                    vehicle safety without modifying the actuator itself. The strategy reduces the
                    operating frequency of rear actuators during low- and medium-intensity braking,
                    thereby extending their service life and operational reliability. Then, the
                    co-simulation model combining Simulink and AMESim was established for simulation
                    validation based on direct drive braking actuator. Additionally, the
                    real-vehicle test platform was built for typical braking scenarios. The
                    simulation and experimental results show that this strategy significantly
                    reduces the operating rate of rear actuators while maintaining braking
                    performance. This ensures that the rear actuators have a longer service life and
                    can be used for emergency braking. In the event of front actuators’ failure, the
                    rear actuators can provide the necessary and emergency braking force, thereby
                    enhancing the overall safety of the vehicle.
            ]]></description>
      <pubDate>Tue, 08 Jul 2025 10:47:23 GMT</pubDate>
      <guid>https://trid.trb.org/View/2571665</guid>
    </item>
    <item>
      <title>Longitudinal Dynamic Metrics for Describing and Developing the Deceleration Behavior of Vehicles in the Concept Phase</title>
      <link>https://trid.trb.org/View/2571683</link>
      <description><![CDATA[The brake system is a critical safety component in motor vehicles. Advances in the electrification of the powertrain and the rise of autonomous driving technologies are significantly impacting the brake system, which allows innovative approaches and necessitating the development of new brake concepts and new deceleration strategies.A major technological advance is the decoupling of the driver from the brake system through Brake-by-wire technology. A crucial attribute of Brake-by-wire systems is the attainment of a concept-independent deceleration behavior. To establish a consistent and brand-specific deceleration behavior in the early development phase, objective metrics and perceptual thresholds are required to describe the desired subjective braking behavior. Moreover, objective metrics are indispensable for the virtual phase of the vehicle development process.This article focuses on deceleration from a straight-ahead drive. To identify objective metrics and perceptual thresholds, a testing procedure and a set of potentially robust metrics are first defined based on literature, expert knowledge, and specific driving characteristics related to deceleration. Suitable metrics and perceptual thresholds are then derived from a subjective evaluation study, objective measurements, and subsequent correlation analysis. As a result, objective metrics for steady-state deceleration, deceleration build-up time and deceleration built-up were established. A subsequent benchmark of current vehicles demonstrates the applicability of the identified criteria.]]></description>
      <pubDate>Tue, 08 Jul 2025 10:41:04 GMT</pubDate>
      <guid>https://trid.trb.org/View/2571683</guid>
    </item>
    <item>
      <title>A Nonlinear Characteristics Identification and Compensation Control Method for Electromechanical Brake System</title>
      <link>https://trid.trb.org/View/2539424</link>
      <description><![CDATA[Clamping force control in Electromechanical Brake (EMB) systems must overcome various nonlinear characteristics, such as motor distorted voltage, Back Electromotive Force (EMF), and actuator friction disturbances. Therefore, modeling and parameter identification of these nonlinearities are necessary. This paper first proposes a motor parameter identification method based on the mathematical model of a Permanent Magnet Synchronous Motor (PMSM). A combination of the Least Square Method and Particle Swarm Optimization (PSO) is used to stepwise identify both the electrical and mechanical parameters of the motor. The accuracy of the identified parameters is validated by comparing simulation results with test bench responses. The identified parameters are applied to design the motor Back EMF compensation module, the distorted voltage compensation module, and to tune the current loop parameters. Next, a lumped parameter friction model suitable for closed-loop clamping force control in EMB systems was established, and specific operating conditions for identifying friction parameters were designed. The feasibility of this identification was validated through simulation analysis. Finally, a closed-loop clamping force control strategy based on friction compensation was developed. The proposed method is applied to the clamping force control system of a vehicle equipped with four-wheel EMB. Experimental results demonstrate that the stepwise parameters identification method for both motor and actuator effectively improves the response speed and accuracy of EMB clamping force control.]]></description>
      <pubDate>Thu, 05 Jun 2025 11:59:53 GMT</pubDate>
      <guid>https://trid.trb.org/View/2539424</guid>
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