Abstract: A new type of (EMB) based on permanent magnet synchronous motor （PMSM）was designed for the unmanned vehicles with heavy braking load. Firstly, a full braking process control strategy was proposed for the EMB actor. According to the calibration results of the actuating force in the contact position and the pressing position, a conventional three-loop PID control was taken for displacement, rotation speed and current control to eliminate the gap of brake friction pair quickly in the idle stroke section. In the operating force increase section, a deadbeat predictive current control strategy was adopted in the inner ring based on internal model disturbance observer of the q-axis current for PMSM to make the EMB could apply service braking force in proportion, to ensure the feasibility, control accuracy and robustness of the dynamic switching in displacement control and torque control of the full braking process. And then, modeling the EMB actor and operate process, the corresponding relationship between the q-axis current of PMSM and the whole braking process was analyzed. Finally, a simulation test was carried out, verifying the feasibility, control accuracy and robustness of the dynamic switching in full braking process. The results show that the proposed strategy can improve braking response time effectively, make the braking system eliminate quickly the brake clearance within 50 ms, solve the problem of uneven braking force of EMB actor, and make the motion system keep good tracking performance in disturbed and the prediction error under 10%.