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Clamping force control is one of the key technologies in the algorithm design and implementation of electro-mechanical braking system, whose control effects directly affect the vehicle braking performance and safety performance. In order to improve the clamping force control performance of electro-mechanical braking (EMB) system, an EMB clamping force control method based on Variable universe adaptive fuzzy PID (VUF-PID) controller is proposed, and stretching factors are added to the fuzzy PID control. According to the operation of the controlled object, the fuzzy theory domain can be adjusted in real time to keep the system in the proper parameter value and improve the adaptive ability of the system. The response characteristics and effectiveness of clamping force under step braking condition, gear switching braking condition and sine braking condition are verified by simulation experiments using MATLAB/Simulink. The results show that the proposed VUF-PID control method has strong tracking characteristics and stability characteristics, and meet the braking requirements under different braking conditions.

In order to improve the clamping force control accuracy of electro-mechanical braking system of electric vehicles, a multi-closed loop control strategy of electro-mechanical braking based on clamping force is proposed. A detailed EMB mathematical model is established. The sliding mode speed controller and improved fuzzy PID clamping force controller are designed, and the joint simulation model of the speed the clamping force controller is established, and simulation experiments are used to verify the effectiveness of the control strategy. Comparative analysis of three simulation conditions, the maximum adjustment time of the proposed control strategy is 0.254 s and the maximum overshoot is 0.45%. The results of research show that the control strategy designed in this paper can quickly and stably reach the target value of clamping force, has a strong anti-interference capability, has some reference value in the electric vehicle braking control.