| Civil Engineering, Transportation Engineering |
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| Anti-lock braking control in coordinated braking system considering braking comfort |
| PAN Ning, YU Liang yao, ZHANG Lei, SONG Jian, ZHANG Yong hui |
| State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China |
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Abstract An anti-lock braking strategy was proposed based on coordinated braking system of distributed driven electric vehicle. The sliding model control was adopted to calculate the total torque to achieve an idea slip using vehicle states parameters and the wheel speeds. Then the total torque was assigned to the hydraulic braking and the regenerative braking. Hydraulic braking provided basic braking while regenerative braking generated by motor modulated the wheel slip ratio in this strategy, realizing the anti-lock braking control. The decrease of hydraulic pressure modulation resulted in the decrease of solenoid valves actuation and the brake pedal stroke variation, which improved the braking comfort. Simulations were conducted on high, low and spilt adhesion roads to evaluate the effectiveness of the proposed strategy. Results show that the proposed strategy leads to braking comfort improvement on the premise of brake safety, compared with the traditional logic threshold ABS strategy.
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Published: 01 January 2017
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Cite this article:
PAN Ning, YU Liang yao, ZHANG Lei, SONG Jian, ZHANG Yong hui. Anti-lock braking control in coordinated braking system considering braking comfort. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(1): 9-16.
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电液复合制动系统防抱控制的舒适性
针对分布式电动汽车电液复合制动系统,提出考虑舒适性的防抱控制策略.该策略使用滑模控制方法,根据车辆状态参数与轮速计算用于滑移率控制的总扭矩,将该扭矩分配给液压制动与电机.由液压制动提供基础制动力,通过调节电机产生的回馈制动力来调节车轮的滑移率以实现防抱控制.由于减少了液压制动的增减压调节次数,增减压阀的动作频率和制动踏板行程的变化减少,提高了制动舒适性.高附、低附及分离路面仿真结果表明,与传统的逻辑门限ABS控制策略相比,在保证ABS安全性的前提下,采用该电液复合制动防抱控制策略可以有效地改善防抱过程的舒适性.
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