Lee, C. and Manzie, C., "Adaptive Brake Torque Variation Compensation for an Electromechanical Brake," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 5(2):600-606, 2012, doi:10.4271/2012-01-1840.
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.