Novel electronic braking system design for EVS based on constrained nonlinear hierarchical control

Abstract

Both environment protection and energy saving have attracted more and more attention in the electric vehicles (EVs) field. In fact, regarding control performance, electric motor has more advantages over conventional internal combustion engine. To decouple the interaction force between vehicle and various coordinating and integrating active control subsystems and estimate the real-time friction force for Advanced Emergency Braking System (AEBS), this paper’s primary intention is uniform distribution of longitudinal tire-road friction force and control strategy for a Novel Anti-lock Braking System (Nov- ABS) which is designed to estimate and track not only any tire-road friction force, but the maximum tire-road friction force, based on the Anti-Lock Braking System (ABS). The longitudinal tire-road friction force is computed through real-time measurement of breaking force and angular acceleration of wheels. The Magic Formula Tire Model can be expressed by the reference model. The evolution of the tire-road friction is described by the constrained active-set SQP algorithm with regard to wheel slip, and as a result, it is feasible to identify the key parameters of the Magic Formula Tire Model. Accordingly, Inverse Quadratic Interpolation method is a proper way to estimate the desired wheel slip in regards to the reference of tireroad friction force from the top layer. Then, this paper adapts the Nonlinear Sliding Mode Control method to construct proposed Nov-ABS. According to the simulation results, the objective control strategy turns out to be feasible and satisfactory.