基于模糊控制的电动汽车低速再生ABS研究

Study on Low-speed Regenerative Braking of Electric Vehicle as ABS Based on Fuzzy Control

为使电动汽车在低附着系数路面上再生制动时车轮具有防抱死功能,提出了一种通过控制电机的再生制动力与反接制动力来防止车轮抱死的方法。阐述了电动汽车低速再生ABS工作原理,建立了电动汽车单轮车辆动力学模型;根据电机低速再生制动的电路稳态条件,利用模糊控制理论设计了基于滑移率控制模式的再生ABS控制系统。仿真结果表明:系统不但鲁棒性强,而且反应迅速,控制精度高;制动过程由占主体的再生制动和制动末期出现的反接制动组成;在电机峰值工作能力内,随地面附着性能的提高,再生ABS回收的制动能也随之增加。

To make electric car have the function of regenerative ABS during regenerative braking on a road of a low tire-road friction coefficient such as the ice-snow covered road,a novel method was proposed that motor regenerative braking and reversal braking torque were controlled to prevent wheels from locking. The working principle of the low-speed regenerative braking as ABS was described,A single-wheel electric car dynamics model in a braking event was built; regenerative ABS controller was designed based on the circuit steady-state conditions of the low-speed regenerative electric motor and fuzzy control theory. Simulation results indicate that this system is of a satisfactory robustness, a much shorter response time and a superior control accuracy. The braking procedure is composed of a regenerative braking action, being of the main part, and an reversal braking action at the end of the braking procedure. Within motor peak working capacity, the greater the road adhesion coefficient ,the more regenerative ABS＇s amount of recovering braking energy.