A robust wheel slip ratio control design combining hydraulic and regenerative braking systems for in-wheel-motors-driven electric Vehicles

Kang

et al. 2018

Shock and Vibration

In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamicsbased approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.

Section: Sideslip Angle Observer Based On Unscented Kalman Filtermentioning

confidence: 99%

“…Extensive research has been conducted by using different control methodologies for in-wheel motored vehicle control systems in recent years [14][15][16]. Zhao et al [17] proposed the model predictive control allocation for yaw stability improvement of four-wheel drive electric vehicles in critical driving conditions.…”

Section: Introductionmentioning

confidence: 99%

A Robust Control Method for Lateral Stability Control of In‐Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

Kang

et al. 2018

Shock and Vibration

“…The structure of the hydraulic braking system is showed in Fig 2. The pressure of the wheel cylinder can be controlled by the intake valve and the outlet valve. Equation (4) shows the control of the hydraulic braking system [5] .…”

Section: System Modelingmentioning

confidence: 99%

“…J.M. Wang developed a robust slip ratio control method combining hydraulic and regenerative braking for inwheel-motor driven electric vehicle [5]. The strategy can achieve good slip ratio control effect but the energy recovery is limited.…”

Section: Introductionmentioning

confidence: 99%

Anti-lock Braking Control Strategy for In-Wheel Motor Driven Electric Vehicles Combining Hydraulic and Regenerative Braking

Wu¹,

Gou²,

Wang³

2016

dtetr

Anti-lock braking system is an important part of active safety control for electric vehicles. In this paper, a novel control strategy of anti-lock braking for in-wheel motor driven electric vehicles is proposed. Based on the analysis of the vehicle dynamic process, proportion-integral control is proposed to control the slip ratio of the wheel, and the braking force is distributed to hydraulic braking system and regenerative braking system according to their characteristics. Simulations have been carried out using Matlab/Simulink. Results showed that the coordinate control of hydraulic braking and regenerative braking can achieve good slip ratio control effect and energy recovery. The anti-lock braking performance of the vehicle has been enhanced. INTRODUCTIONAnti-lock braking system plays an important role in vehicle emergency braking maneuvers. It can help the vehicle to maintain the wheel slip ratio near a desired value to generate a tire-road friction force as large as possible to reduce the braking distance [1]. For traditional vehicles, the hydraulic braking pressure can be controlled by regulating the solenoid valves through pulse width modulated (PWM) signals to avoid locking the wheels. The friction brake torque is slow in dynamics which affects the slip ratio control performance. For electric vehicles, the regenerative braking torque is much faster in dynamics, which can benefit the slip ratio control. So the anti-lock braking system using regenerative braking system has attracted much attention from researchers. Yoichi H proposed a model following control method to keep the slip ratio near the optimal point by using motor torque control [2] . However, the regenerative braking system has a limited working range that may be insufficient for the required braking torque, and the vehicle needs hydraulic braking to provide enough braking force. Eiji N proposed an anti-lock braking control strategy based on brake-by-wire system [3]. _________________________________________

Mathematical Problems in Engineering

“…Optimal slip control on braking can reduce braking distance, save braking energy, and enhance the vehicle stability. For these purposes, various methods have been used in slip control, such as sliding mode control [2], robust control [3], and fuzzy control [4]. However, most of these studies are done with the road adhesion coefficient known.…”

Section: Introductionmentioning

confidence: 99%

Slip Control of Electric Vehicle Based on Tire‐Road Friction Coefficient Estimation

Cui

Dou

et al. 2017

The real-time change of tire-road friction coefficient is one of the important factors that influence vehicle safety performance. Besides, the vehicle wheels' locking up has become an important issue. In order to solve these problems, this paper comes up with a novel slip control of electric vehicle (EV) based on tire-road friction coefficient estimation. First and foremost, a novel method is proposed to estimate the tire-road friction coefficient, and then the reference slip ratio is determined based on the estimation results. Finally, with the reference slip ratio, a slip control based on model predictive control (MPC) is designed to prevent the vehicle wheels from locking up. In this regard, the proposed controller guarantees the optimal braking torque on each wheel by individually controlling the slip ratio of each tire within the stable zone. Theoretical analyses and simulation show that the proposed controller is effective for better braking performance.