ABS Control Strategy of Giving Priority to Regenerative Braking Torque for Electric Vehicles
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摘要: 为使电动汽车的驱动轮在紧急制动时，既能防抱死，又能回收制动能，提出了再生制动力矩优先作用的机电协同防抱死制动控制策略。即在任何制动工况下，只要再生制动力矩有效，均优先使用再生制动力矩来防止驱动轮抱死。分析了再生ABS优先作用的工作模式及其制动力分配原则，给出了相应的控制逻辑；然后以1/4车辆模型为例，建立了再生ABS优先作用的动力学模型，设计了基于车轮滑移率的PID控制律。在此基础上，建立了该策略的MATLAB/SIMULINK仿真模型。仿真结果表明：随着路面附着系数的提高，制动模式将由纯再生ABS转为再生制动优先作用的机电复合再生ABS，机械制动力矩也将相应增大；其次，与传统液压ABS的对比仿真试验表明，采用该策略能使制动系统的反应速度至少提高21.8%，车辆制动距离缩短4.9%。Abstract: For the function of recovering braking energy and preventing the wheel from driving wheels slipping of electric vehicles during in the emergency braking, the electromechanical coordinated anti-lock control strategy with the priority of the regenerative braking torque was proposed, that is, in any braking condition, as long as the regenerative braking torque is effective, regenerative braking torque is preferred to prevent the driving wheel from being locked. Firstly, the working mode and braking force distribution principle of this control strategy were analyzed, and its corresponding control logic is given. Then, taking the 1/4 electric vehicle model as an example, the dynamic mathematical model of regenerative ABS being given priority to be activated was established, and the PID control law based on wheel slip ratio was designed. On this basis, the corresponding MATLAB/SIMULINK model of the control strategy was established. Simulation results show that the proposed control strategy is feasible, and with the increase of the road surface adhesion coefficient, the braking mode will be changed from purely regenerative ABS to electromechanical composite regenerative ABS with the priority of the regenerative braking torque to be used, and the mechanical braking torque will be also increased accordingly. Secondly, the comparative simulation with the traditional hydraulic ABS shows that the control strategy can increase the reaction speed of the brake system by at least 21.8% and the brake distance of the vehicle by 4.9%.
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表 1 车辆仿真模型参数
参数 数值及单位 电机额定转速nN 2 400 r/min 电机额定功率PN 75 kW 电机额定转矩TN 300 N·m 电机最高转矩Tmax 350 N·m 电机转矩系数Kt 1.086 N·m/A 1/4车辆质量m 425 kg 滚动半径r 0.325 m 车轮惯量JW 0.5 kg·m2 传动系传动比ig 5 
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