集成式线控制动系统的复杂非线性特性和动态摩擦特性等导致精确的液压力控制仍面临一定的挑战。为解决上述问题，提出了一种集成式线控制动系统主动制动液压力精确控制策略。首先，分析了集成式线控制动系统的结构方案和控制框架，建立了面向控制器设计的各组件等效简化模型。其次，提出了一种集成式线控制动系统主动制动三层闭环级联压力控制方法。具体而言，基于自抗扰控制方法设计压力控制层以削弱液压系统迟滞非线性因素的影响，位置控制层采用鲁棒滑模变结构控制方法并考虑了传动机构的动静态摩擦问题，此外，通过线性矩阵不等式方法设计电流控制层以提高制动电机的动态跟随性能。AMESim-Simulink联合仿真测试结果表明，集成式线控制动系统在多种工况下具有良好的液压力控制性能，稳态压力跟随误差控制在0.1 MPa以内，相比传统基于比例-积分（proportion-integration, PI）控制方法，采用本文方法瞬态压力跟随误差均值下降了0.14 MPa，稳态压力跟随误差均值减少了0.8 MPa，响应迟滞时间降低了0.04 s，验证了所提出的控制策略的有效性。

The complex nonlinear characteristics and dynamic friction properties of the integrated brake-by-wire system were recognized as challenges for precise hydraulic pressure control. To address these issues, a precise hydraulic force control strategy was proposed for the integrated brake-by-wire system. Firstly, the structure and control framework of the integrated brake-by-wire system were analyzed, and equivalent simplified models were established for each component to facilitate controller design. Secondly, a three-layer cascade pressure control method was introduced for active braking in the integrated brake-by-wire system. Specifically, the pressure control layer was designed based on the active disturbance rejection control method, which mitigates the effects of hysteresis nonlinearity in the hydraulic system. The position control layer employs a robust sliding mode variable structure control method and addresses the dynamic and static friction issues in the transmission mechanism. The current control layer was designed using the linear matrix inequality method to enhance the braking motor's dynamic following performance. Joint simulation tests using AMESim-Simulink demonstrate that the integrated brake-by-wire system achieves good pressure control performance across various operating conditions, maintaining the steady-state pressure tracking error within 0.1 MPa, compared to the traditional proportion-integration(PI) control method, the mean transient pressure tracking error is reduced by 0.14 MPa using the proposed method, the mean steady-state pressure tracking error decreases by 0.8 MPa, and the response lag time is lowered by 0.04 s, which verifies the effectiveness of the control strategy proposed.