Optimized Distribution Algorithm of Braking Force Variable Ratio for Electric Vehicles Considering Road Adhesion Condition
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摘要: 制动力分配算法是电动汽车再生制动研究的基础，为了能够在不同路面制动时均能获得较好的制动效果，设计了一种考虑路面附着条件影响的电动汽车制动力变比值优化分配算法。利用汽车动力学方程进行滑移率和利用附着系数估算，实现对路面类型的辨识。然后根据辨识的路面类型选择对应的制动力变比值分配系数，进行算法实现。最后通过与dSPACE软件联合仿真验证了算法有效性，与未考虑路面附着条件的算法相比，新算法制动所需时间至少减少了6.6%。Abstract: The braking force distribution algorithm is the basis of electric vehicle regenerative braking research. When the electric vehicle is braking on different roads, in order to obtain better braking effect, considering the influence of road adhesion condition, an optimal distribution algorithm of braking force variable ratio is designed for electric vehicles. The vehicle dynamics equation is used to estimate the slip rate and the adhesion coefficient to realize the road condition identification. Then, for the identified road type, the corresponding braking force variable ratio distribution coefficient is selected and the algorithm is implemented. Finally, the effectiveness of the algorithm is verified by co-simulation with dSPACE software. Compared with the algorithm without considering the road adhesion condition, the braking time of electric vehicle using the new algorithm is reduced by at least 6.6%.
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Key words:
- electric vehicle /
- brake force distribution /
- road condition identification /
- dSPACE
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表 2 整车部分结构参数
载荷 $m$/kg $h$/m $a$/m $b$/m $L$/m 空载 1418 0.510 1.064 1.596 2.66 满载 1739 0.553 1.239 1.421 2.66 
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表 3 制动力变比值分配系数表
z β z β 0.15 0.627 0.50 0.696 0.20 0.638 0.55 0.703 0.25 0.648 0.60 0.710 0.30 0.658 0.65 0.723 0.35 0.667 0.70 0.734 0.40 0.677 0.75 0.744 0.45 0.686 0.80 0.753
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表 4 干沥青路面制动力分配系数
z β z β 0.15 0.729 0.50 0.781 0.20 0.730 0.55 0.787 0.25 0.744 0.60 0.793 0.30 0.752 0.65 0.799 0.35 0.761 0.70 0.804 0.40 0.768 0.75 0.808 0.45 0.775 0.80 0.813
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表 5 湿沥青路面制动力分配系数
z β z β 0.15 0.729 0.5 0.777 0.20 0.735 0.55 0.783 0.25 0.743 0.60 0.788 0.30 0.750 0.65 0.792 0.35 0.758 0.70 0.797 0.40 0.764 0.75 0.809 0.45 0.771 0.80 0.804
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表 6 冰路面制动力分配系数
z β z β 0.15 0.629 0.50 0.696 0.20 0.638 0.55 0.705 0.25 0.648 0.60 0.715 0.30 0.658 0.65 0.725 0.35 0.667 0.70 0.734 0.40 0.677 0.75 0.744 0.45 0.686 0.80 0.753
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表 7 制动时间及优化程度表
路面 方法1 方法2 方法3 比方法1提高 比方法2提高 干沥青 8.7 s 7.8 s 5.0 s 32.5% 35.9% 湿沥青 23.6 s 23.4 s 17.5 s 25.9% 25.2% 冰 40.8 s 37.9 s 35.4 s 13.2% 6.6%
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