Control method and electromechanical braking system for braking system

An electromechanical braking system, comprising:

• an electronic mechanical brake;
• and
• an electronic control unit connected to the electronic mechanical brake,
• wherein the electronic mechanical brake comprises:
• a first motor;
• a second motor;
• a transmission device connected to the first motor and the second motor;
• and
• a brake actuator connected to the transmission device,
• wherein the transmission device transfers a braking torque of the first motor and the second motor to the brake actuator,
• wherein the electromechanical braking system performs a control method comprising:
• detecting a pedal stroke and determining a total required braking torque (T) based on a pedal stroke/total braking torque curve;
• distributing the total braking torque to the first motor and the second motor to determine a target torque for the first motor (T1_t) and a target torque for the second motor (T2_t);
• driving the first motor and the second motor to operate based on the target torques T1_t and T2_t;
• monitoring an operating current and a rotational speed of the first motor and the second motor, and using motor characteristic curves of the first motor and the second motor to calculate a first computed output torque (T1_c) and a second computed output torque (T2_c);
• calibrating a total output torque (To) of the first motor and the second motor after coupling by:
• executing a baseline calibration comprising:
• when a first condition |T1_t−T1_c|≤A1 is true the first motor remains in an operational state;
• when the first condition is false the first motor is adjusted;
• when a second condition |T2_t−T2_c|≤A2 is true the second motor remains in an operational state;
• when the second condition is false the second motor is adjusted,
• when a third condition |T−To|≤A is true both the first motor and the second motor remain in the operational states respectively;
• and
• when the third condition is false either the first motor or the second motor is adjusted,
• repeating the above steps until the first condition, the second condition, and the third condition are simultaneously satisfied, and
• wherein A, A1, and A2 are within a range of 0 to 0.1.