基于鲁棒积分滑模的四轮轮毂电机驱动电动汽车电液复合制动防抱死控制研究

In order to make full use of fast response and independent control of the electro-hydraulic composite braking system to improve the stability and safety for four-wheel-independent-drive electric vehicles, an anti-lock brake control strategy based on robust integral sliding mode control is proposed. The hierarchical control architecture is adopted, which consists of an upper and a lower controller. The upper controller is in charge of wheel slip ratio control and the lower controller is responsible for the coordination of regenerative braking and hydraulic braking torques. The vehicle dynamics and the composite braking system model are established. The effectiveness of the proposed control strategy is examined and verified under four typical braking conditions based on the Simulink-AMESim-Carsim joint simulation platform. The results show that the proposed control strategy can effectually eliminate the external disturbance and make the wheel slip ratio converge to the expected value without knowing the road adhesion coefficient and the tire longitudinal force. Besides, it also exhibits high robustness to a variety of emergency braking conditions and improves the ride comfort while ensuring braking safety and reliability via coordinating the regenerative braking and the hydraulic braking.