分布驱动电动汽车电液复合制动最优滑模ABS控制  

Optimal sliding mode ABS control for electro-hydraulic composite braking of distributed driven electric vehicle

作　　者：王骏骋 吕林峰 李剑敏[1] 任洁雨 WANG Jun-cheng;LYU Lin-feng;LI Jian-min;REN Jie-yu(School of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China;Zhejiang Wanxiang Marelli Shock Absorbers,Hangzhou 311200,China)

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018 [2]浙江万向马瑞利减震器有限公司,杭州311200

出　　处：《吉林大学学报（工学版）》2022年第8期1751-1758,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：浙江省教育厅科研项目(20020060-F);浙江理工大学科研启动金项目(20022303-Y);国家自然科学基金项目(51875258);国家重点研发计划项目(2018YFB1308300)。

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。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.

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 

分 类 号：U461.3[机械工程—车辆工程]