对制动抖动现象、机理、影响因素、研究方法以及控制措施进行较全面的研究。
A comprehensive study on brake judder, including phenomena, mechanism, influence factors, research methods and control measures was done in this paper.
为克服不确定性给系统造成的抖动现象，参考模糊控制的优点，设计了模糊补偿控制以消除这种抖动。
To overcome shaking of the system caused by uncertainty, we designed a fuzzy compensation controller by making use of the advantages of fuzzy control.
仿真结果表明，所设计的滑模变控制器使助力电机具有很好的动态性能，系统基本无抖动现象，实现了助力电机输出电流对目标电流的跟踪特性。
The simulation results show this control system has good dynamic property and negligible vibration, and efficiently makes the output current of direct motor trace the intent current.
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