电子机械制动系统扭矩控制方法、系统、电子设备及介质

The invention provides a torque control method, a system, electronic equipment and a medium of an electronic mechanical braking system, belonging to the technical field of electronic mechanical braking; the method comprises the steps of carrying out frequency domain disturbance modeling based on real-time sensing data to obtain a dynamic model of gear backlash, carrying out feedforward compensation and closed-loop optimization based on the dynamic model of the gear backlash to obtain an optimized control instruction, and carrying out torque output and energy recovery based on the optimized control instruction. The invention realizes the active suppression and the energy efficient utilization of the EMB motor zero-crossing reverse impact of the electromechanical braking system through the cross-domain cooperation of feedforward compensation, mechanical decoupling and energy recovery.