电动汽车制动模式切换过程电液协调控制策略

doi:10.13229/j.cnki.jdxbgxb.20240676

Abstract

Abstract:

During the composite braking process of electric vehicles， there is a response speed difference between the motor and the hydraulic braking system， so the switching process between the two braking systems can cause impacts on the vehicle， affecting driving comfort. Therefore， an electro-hydraulic coordinated control strategy is proposed in this paper for braking mode switching process. A fuzzy PID control algorithm is used for the hydraulic braking system， and a model predictive control （MPC） algorithm is used for the motor braking system， and the seagull optimization algorithm is used to optimize the MPC weight coefficients to eliminate the dynamic response difference between the two braking systems. A semi-physical simulation platform was built to verify the designed control strategy. The results show that， under constant and variable braking intensity conditions， the impact degree during different mode switching processes was reduced by at least 13.9 m/s³， and the impact duration was reduced by at least 0.15 s. Therefore， the designed control strategy can achieve a smooth transition during the braking mode switching process and improve the stability and comfort of braking mode switching in the composite braking process of electric vehicles.

Key words: vehicle engineering, composite braking, electro-hydraulic coordination, mode switching, impact degree

CLC Number:

U463.5

Xiang-wen ZHANG,Zi-hao WANG. Electro-hydraulic coordinated control strategy for braking mode switching process of electric vehicles[J].Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 31-43.

Figures/Tables 13

Table 1

Vehicle structural parameters"

载荷状况	$m / k g$	$h g / m$	$a / m$	$b / m$	$L / m$
空载	141 8	0.510	1.064	1.596	2.66
满载	173 9	0.553	1.239	1.421	2.66

Table 1

Table 2

β values under different braking intensities"

制动强度 $z$	0.2	0.3	0.4	0.5	0.6
分配系数 $β$	0.638 3	0.657 5	0.676 7	0.695 9	0.715 0

Table 2

Fig.1

Fig.2

Table 3

Main motor parameters"

参数	数值
额定功率/峰值功率/ $k W$	15.7/31.4
峰值转矩/（ $N ? m$ ）	200
额定转速/最高转速/（ $r ? m i n - 1$ ）	1 500/6 000

Table 3

Fig.3

Fig.4

Table 4

Fuzzy PID rule base"

$E / E C$	$N B$	$N M$	$N S$	$Z O$	$P S$	$P M$	$P B$
$N B$	$P B / N B$	$P B / N B$	$P B / N M$	$P M / N M$	$P B / N S$	$P B / Z O$	$P B / Z O$
$N B$	$/ P S$	$/ N S$	$/ N B$	$/ N B$	$/ N B$	$/ N M$	$/ P S$
$N M$	$P B / N B$	$P B / N B$	$P M / N M$	$P M / N S$	$P M / N S$	$P M / Z O$	$P S / Z O$
$N M$	$/ P S$	$/ N S$	$/ N B$	$/ N M$	$/ N M$	$/ N S$	$/ Z O$
$N S$	$P M / N B$	$P M / N M$	$P M / N S$	$P S / N S$	$P S / Z O$	$P S / P S$	$P S / P S$
$N S$	$/ Z O$	$/ N S$	$/ N M$	$/ N M$	$/ N S$	$/ N S$	$/ Z O$
$Z O$	$P M / N M$	$P M / N M$	$P S / N S$	$Z O / Z O$	$P S / P S$	$P M / P M$	$P M / P M$
$Z O$	$/ Z O$	$/ N S$	$/ N S$	$/ N S$	$/ N S$	$/ N S$	$/ Z O$
$P S$	$P S / N M$	$P S / N S$	$Z O / Z O$	$P S / P S$	$P S / P S$	$P M / P M$	$P M / P B$
$P S$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$	$/ Z O$
$P M$	$P M / Z O$	$P M / Z O$	$P S / P S$	$P S / P S$	$P M / P M$	$P M / P B$	$P B / P B$
$P M$	$/ P B$	$/ P S$	$/ P S$	$/ P S$	$/ P S$	$/ P S$	$/ P B$
$P B$	$P B / Z O$	$P B / Z O$	$P B / P S$	$P M / P M$	$P M / P M$	$P B / P B$	$P B / P B$
$P B$	$/ P B$	$/ P M$	$/ P M$	$/ P M$	$/ P S$	$/ P S$	$/ P B$

Table 4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

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Electro-hydraulic coordinated control strategy for braking mode switching process of electric vehicles

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