Abstract
Aiming at the problem of the stability of distributed-driven electric vehicles under braking conditions and the recovery of regenerative braking energy, a novel compound brake anti-lock braking control strategy based on wheel slip rate control is proposed. This article takes distributed-driven electric vehicles as the research object. From the perspective of the single-wheel braking dynamic model of the car, the method of designing a non-linear state observer is used to observe the changing longitudinal braking force of the wheel, and then to achieve the estimation of the optimal slip rate. Using the improved adaptive sliding mode controller to achieve effective control of the optimal slip rate to improve the chattering problem of sliding mode control. According to the output of the controller, combined with the motor brake and hydraulic brake system of the car, a composite brake anti-lock control system is designed. The joint simulation is carried out in the environment of MATLAB and CARCISM. The simulation results show that the control method studied can effectively estimate and control the optimal slip rate under various complex road surfaces, and realize the safety and stability of electric vehicle brake control.
Highlights
With the increasingly serious problems of environmental pollution and energy crisis, electric vehicles have become a hot spot for research and development in countries around the world
(1) In order to obtain vehicle status information, a single-wheel dynamics model of electric vehicles is established, and relevant factors affecting vehicle braking are considered, and the road condition recognition method based on empirical formulas commonly used in the current research is analyzed, and a non-standard method is designed
An estimation system based on a nonlinear state observer is used to observe the braking force and estimate the optimal slip rate
Summary
With the increasingly serious problems of environmental pollution and energy crisis, electric vehicles have become a hot spot for research and development in countries around the world. How to use the composite braking system of electric vehicles to realize the effective control of the constantly changing optimal slip rate. Xu et al [20] aiming at the torque optimization control of electric vehicles with four in-wheel motors, use the MPC method to solve the multiple optimization problems of braking safety and energy recovery. The slip rate control compound brake anti-lock control system in the current distributed driving electric vehicle emergency braking process improves the vehicle’s performance. (1) In order to obtain vehicle status information, a single-wheel dynamics model of electric vehicles is established, and relevant factors affecting vehicle braking are considered, and the road condition recognition method based on empirical formulas commonly used in the current research is analyzed, and a non-standard method is designed. Tm is the torque applied to the wheel end by the motor, and Pc is the wheel cylinder pressure of the brake system, kc is the conversion coefficient between wheel cylinder pressure and braking torque, and m is the total mass of the car
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