Abstract：A coordinated control system is developed for the regenerative and hydraulic braking systems in electric vehicles based on a tire-road adhesion model to ensure the stability of electric vehicles with anti-lock braking using motor control accuracy and fast response. The system is designed for a distributed drive electric vehicle with the tire-road adhesion estimated according to the vehicle dynamics. The system measures the motor torque and the wheel cylinder braking pressure. Different coordinated control strategies are given for three tire-road adhesion levels with a coordination mechanism that stops the regenerative braking during anti-lock braking control. Simulations show that this strategy improves both the braking stability and the regenerative energy efficiency during braking. The regenerative braking control reduces the hydraulic braking pressure fluctuations and improves braking stability and comfort.
张雷, 于良耀, 宋健, 张永生, 魏文若. 电动汽车再生制动与液压制动防抱协调控制[J]. 清华大学学报（自然科学版）, 2016, 56(2): 152-159.
ZHANG Lei, YU Liangyao, SONG Jian, ZHANG Yongsheng, WEI Wenruo. Coordinated anti-lock braking control of regenerative and hydraulic braking systems in electric vehicles. Journal of Tsinghua University(Science and Technology), 2016, 56(2): 152-159.
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2016, Vol. 56 
