Article(id=1308462995139490501, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1308462989946934053, articleNumber=null, orderNo=null, doi=10.20104/j.cnki.1674-6546.20250258, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=1776009600000, revisedDateStr=2026-04-13, acceptedDate=null, acceptedDateStr=null, onlineDate=1789891488108, onlineDateStr=2026-09-20, pubDate=1781452800000, pubDateStr=2026-06-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1789891488108, onlineIssueDateStr=2026-09-20, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1789891488107, creator=13701087609, updateTime=1789891488107, updator=13701087609, issue=Issue{id=1308462989946934053, tenantId=1146029695717560320, journalId=1189918454225211397, year='2026', volume='', issue='6', pageStart='1', pageEnd='48', issueExtLink='null', onlineDate='null', pubDate='1781452800000', pubDateStr='2026-06-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1789891486870, creator='13701087609', updateTime=1789892888486, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1308468868809248787, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1308462989946934053, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1308468868809248788, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1308462989946934053, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=37, endPage=42, ext={EN=ArticleExt(id=1308462995282096838, articleId=1308462995139490501, tenantId=1146029695717560320, journalId=1189918454225211397, language=EN, title=Research on Anti-Lock Braking Control of Electronic Mechanical Braking System for Commercial Vehicles, columnId=null, journalTitle=Automotive Engineer, columnName=null, runingTitle=null, highlight=null, articleAbstract=

For the response delay and insufficient robustness of the anti-lock braking control in commercial vehicle Electromechanical Braking (EMB) systems, an anti-lock braking sliding mode control algorithm based on a triple closed-loop structure of braking motor clamping force, rotational speed, and current is proposed. A single-wheel vehicle dynamics model and an EMB actuator model are established, and a sliding mode controller is designed to track the target slip ratio in real time. In TruckSim/MATLAB co-simulation, the slip ratio is stably regulated around the target value, with small wheel-speed fluctuations and good braking consistency. Furthermore, a Hardware-in-the-Loop (HIL) test bench is developed, in which the ABS sliding mode controller and the EMB braking motor controller are implemented in a rapid prototyping unit and a motor control board, respectively. The experimental results show that the slip ratio can effectively track the target value and meet the ABS control performance requirements, thereby validating the effectiveness and engineering feasibility of the proposed control strategy in both simulation and HIL testing.

, authors=Zhenzhao Zhang¹, Jian Gao², Kuo Yan², Lien Wan¹, Changhe Xu¹, Fabing Li¹, authorsList=Zhenzhao Zhang, Jian Gao, Kuo Yan, Lien Wan, Changhe Xu, Fabing Li, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1308462995504394951, articleId=1308462995139490501, tenantId=1146029695717560320, journalId=1189918454225211397, language=CN, title=商用车电子机械制动系统防抱死制动控制研究, columnId=0, journalTitle=汽车工程师, columnName=, runingTitle=null, highlight=null, articleAbstract=

针对商用车电子机械制动（EMB）系统在防抱死制动控制中的响应滞后和鲁棒性不足问题，提出一种基于制动电机夹紧力-转速-电流三闭环的防抱死制动滑模控制算法，通过建立单轮车辆动力学模型与EMB执行器模型，设计滑模控制器以实时跟踪目标滑移率。在TruckSim/MATLAB联合仿真中，滑移率稳定控制在目标值附近，轮速波动小、制动一致性良好，进一步搭建硬件在环（HIL）台架，分别将防抱死制动滑模控制器和EMB系统制动电机控制器布置在快速原型和电机控制板中，实测结果表明：滑移率能够有效跟踪目标值，满足防抱死制动控制性能要求，验证了控制策略在仿真与HIL测试中的有效性与工程可行性。

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