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.
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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