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| Mode-switching strategy for electro-hydraulic composite braking system of electric vehicle |
Zhengrong CHEN1( ),Ruochen WANG1,*(),Renkai DING2,Feng WEI1 |
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212000, China
2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212000, China |
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Abstract A mode-switching strategy for an electro-hydraulic composite braking system based on dual nonlinear model predictive control (NMPC) was proposed in order to reduce the braking impact caused by the difference in response characteristic between the motor and hydraulic braking system during electric vehicle braking and enhance braking comfort. Motor compensation was prioritized to minimize system dynamic discrepancy while considering the maximum motor braking torque limit in order to reasonably constrain the compensation range. A dual NMPC strategy was employed to adjust the motor and hydraulic braking system when the motor compensation reached its limit in order to accurately track the target braking torque distributed by the upper layer and reduce the impact during mode switching. The effectiveness of the proposed switching strategy was validated through simulation and bench test. Results showed that the proposed switching strategy exhibited superior switching performance compared with strategies that do not consider or only partially consider the dynamic response characteristic of the braking system. The impact was reduced by at least 48.1%, 22.9% and 48.3%, 25.2% respectively under normal and emergency braking conditions, effectively suppressing the braking impact and improving the braking comfort.
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Received: 30 July 2025
Published: 06 May 2026
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| Fund: 国家重点研发计划资助项目（2023YFB2504500）；国家自然科学基金资助项目（52472410）；镇江市重点研发计划资助项目（ZD2022002）. |
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Corresponding Authors:
Ruochen WANG
E-mail: 19710513218@163.com;wrc@ujs.edu.cn
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电动汽车电液复合制动系统模式切换策略
为了减小电动汽车制动过程中电机与液压制动系统响应特性差异带来的制动冲击，提升制动舒适性，提出基于双非线性模型预测控制（NMPC）的电液复合制动系统模式切换策略. 该策略优先采用电机补偿减少系统动态特性的差异，考虑最大电机制动力矩的限制，合理约束电机补偿范围. 当电机补偿达到极限时，采用双NMPC策略调节电机与液压制动系统，精确跟踪上层分配的目标制动力矩，减小模式切换过程中的冲击. 通过仿真与台架实验验证了该切换策略的有效性. 结果表明，与未考虑或仅考虑制动系统动态响应特性的策略相比，提出的切换策略具有更出色的切换性能. 在常规和紧急制动工况下，冲击度分别降低了至少48.1%、22.9%和48.3%、25.2%，有效抑制了制动冲击，提升了制动舒适性.
关键词：
制动冲击,
模式切换策略,
动态响应特性,
电液复合制动系统,
双非线性模型预测控制
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