Abstract
Dual-motor electric drive tracked vehicles (DDTVs) have drawn much attention in the trends of hybridization and electrification for tracked vehicles. Their transmission chains differ significantly from the traditional ones. Due to the complication and slug of a traditional tracked vehicle braking system, as well as the difference of track-ground with tire-road, research of antilock braking control of tracked vehicles is rather lacking. With the application of permanent magnet synchronous motors (PMSMs), applying an advanced braking control strategy becomes practical. This paper develops a novel emergency braking control strategy using a sliding mode slip ratio controller and a rule-based braking torque allocating method. Simulations are conducted under various track-ground conditions for comparing the control performance of the proposed strategy with three other strategies including the full braking strategy, traditional antilock braking strategy, as well as sliding mode slip ratio strategy without the use of motors. For an initial speed of 80 km/h, simulation results show that the proposed control strategy performs the best among all strategies mentioned above. Several hardware-in-the-loop (HIL) experiments are conducted under the same track-ground conditions as the ones in the simulations. The experiment results verified the validity of the proposed emergency braking control strategy.
Highlights
With the increasing emphasis on environmental protection, automobile technology tends to develop in the direction of hybridization and electrification
sliding mode slip control without motor (SMSCM) performed a little better than traditional ABS (TABS) in stopping time and controlling the slip ratio, its stopping distance was 0.79 m longer than the latter, which means that the traditional way of antilock braking performs effectively when the adhesion is not very low, and even if an advanced method is used to control the slip ratio, the performance may still not be improved significantly over the traditional way
We found that the largest deviation of total braking torque with total demanded braking torque occurred at the time when the emergency braking control strategy was triggered, shown in the
Summary
With the increasing emphasis on environmental protection, automobile technology tends to develop in the direction of hybridization and electrification. Most of the traditional antilock braking systems (ABS) rely on high-frequency switching of solenoid valves in hydraulic or pneumatic braking circuits and widely applied in various kinds of vehicles This kind of control strategy may face decays of control effects when the adhesion. The second route aims to regenerate more energy while maintaining vehicle stability during emergency braking Different methods such as sliding mode [15,16], phase plane theory [17], or improved linear quadratic Gaussian control [18] are used to derive the demanded braking force, the main strategy is making the motors provide as much braking force as possible, and the mechanical braking system follows the difference of demanded braking force and regenerative braking force [15,16,17,18,19].
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