ABSTRACT
ABSTRACT: With the aims of high regenerative efficiency and satisfactory braking performance, a new coordinated braking control strategy (CBCS) is proposed for In-Wheel-Motor-Driven Electric Vehicles (IWMDEVs) equipped with a regenerative braking system (RBS) and an antilock braking system (ABS).The coordinated braking of the vehicle is based on the control allocation (CA) that makes the RBS work together with the ABS harmoniously. In the coordinated braking control strategy, in order to meet the vehicle braking control objectives, a high-level robust sliding mode controller (SMC) is designed to produce the virtual braking torque by adjusting the wheel slip within an optimal range dynamically, and an exponential rate approach is used to reduce the chattering in SMC. The optimal control allocation distributes the virtual braking torque to desired regenerative braking torque (RBT) and hydraulic braking torque (HBT) so as to achieve brake stability and good regeneration efficiency simultaneously, and a fixed-point (FP) method is applied to solve the constrained quadratic programming control allocation (CA) problem. Simulation results show that the proposed coordinated braking control strategy provides improved regenerative efficiency and braking comfort.
