分布驱动电动汽车电液复合制动最优滑模ABS控制

doi:10.13229/j.cnki.jdxbgxb20210150

摘要/Abstract

摘要：

紧急制动过程中分布驱动电动汽车往往会先计算出车轮总需求制动力矩，再二次分配再生-摩擦制动力矩，这样增加了控制复杂性且可能无法充分发挥电机制动能量回收潜力。为了协同提升防抱死控制和制动能量回收效果，设计了一种最优滑模ABS控制系统，将获得最大回馈功率的再生制动力矩作为“干扰向量”的元素之一，制动器摩擦制动力矩作为“控制向量”唯一组成元素，充分发挥最优滑模控制算法可以通过趋近率解补偿干扰向量对控制系统所产生影响的控制特性，在保证制动能量回收效果的前提下省略了制动力矩二次分配过程。仿真结果表明：相比于一般滑模算法控制下进行制动力矩二次分配的ABS控制策略，所提出的最优滑模ABS控制策略能获得更加优越的防抱死控制效果。

关键词: 车辆工程, 复合制动, 防抱死制动系统, 能量回收, 最优滑模控制

Abstract:

In the emergency braking process， the total wheel demand braking torque is calculated and then the regenerative-frictional braking torques are distributed by the distributed driven electric vehicle. However， it not only increases the control complexity， but also is failure to fully utilize the motor energy recovery potential. To improve the anti-lock braking control and energy recovery effects， an optimal sliding mode （OSM）-ABS control system was designed. The regenerative braking torque to achieve a maximum feedback power was regarded as one element of the disturbance vector， and the frictional braking torque was regarded as the only element in the control vector. The control characteristic of the OSM control algorithm is given full utilized， namely， the influences of the disturbance vector in the control system can be compensated by the reaching law solution. On the premise of ensuring the recovery effect of braking energy， the secondary distribution process of braking torque is omitted. The simulation results show that， compared with the general sliding mode ABS control strategy with a regenerative-frictional braking torque distribution process， the proposed OSM-ABS control strategy has satisfactory effects on anti-lock control.

Key words: vehicle engineering, composite braking, anti-lock brake system, energy recovery, optimal sliding mode control

中图分类号:

U461.3

王骏骋,吕林峰,李剑敏,任洁雨. 分布驱动电动汽车电液复合制动最优滑模ABS控制[J]. 吉林大学学报(工学版), 2022, 52(8): 1751-1758.

Jun-cheng WANG,Lin-feng LYU,Jian-min LI,Jie-yu REN. Optimal sliding mode ABS control for electro⁃hydraulic composite braking of distributed driven electric vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(8): 1751-1758.

图/表 8

图1

图2

表1

仿真参数"

参数	数值	参数	数值
M/kg	344	A/m²	3.1
C_D	0.3	$ρ a$ /（kg·m^-3）	1.2258
I/（kg·m²）	0.5	r/m	0.283
τ	0.04	f	0.01

表1

图3

图4

图5

图6

图7

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