Electro-mechanical braking is an important type of brake-by-wire.A rear electrical-mechanical brake (EMB) caliper was designed for a sample vehicle in an enterprise.Based on the stiffness curve of caliper,the simulation model of the clamping force control was established,and the response characteristics of the clamping force were verified by experiments.The EMB caliper clamping force output can follow the step,sine and random target curves with good dynamic response characteristics,which meet the design requirements.The simulation model can be used to accurately simulate the change of the caliper clamping force and piston displacement.At the same time,caliper stiffness has a significant impact on the accurate control of EMB caliper clamping force,and the accurate control of EMB caliper clamping force should be based on the accurate estimation of caliper stiffness.