电动汽车连续再生制动系统防抱死制动试验研究

An Experimental Study on Anti-lock Braking of Continuous Regenerative Braking System in Electric Vehicles

电动汽车通过常规摩擦制动和驱动电机再生制动实现防抱死功能。本文中分析了防抱死制动系统的优点和不足,提出基于PI控制的防抱死控制系统,并在实车上进行试验验证。设计了3组不同结构配置的防抱死制动系统:仅有液压防抱死系统;仅前轴有再生防抱死系统;前轴有液压和再生防抱死系统、后轴有液压防抱死系统。评估了3组系统的制动性能。液压防抱死系统以规则控制器为基础;连续再生防抱死制动系统通过目标增益、比例积分和前馈与反馈控制系统控制滑移率。低附路面的试验结果表明:再生防抱死制动系统在制动过程中能准确跟踪理想车轮滑移率曲线,降低车身振动频率,提高了行驶舒适性。

Electric vehicles use conventional friction braking and the regenerative braking of drive motor to achieve antilock braking. In this paper,the advantages and disadvantages of antilock braking system（ ABS） are analyzed,and an anti-lock control system based on PI control is proposed and then verified by real vehicle test. Three different structural configurations for ABS are designed： hydraulic ABS alone,regenerative ABS in front axle only and hydraulic and regenerative ABS in front axle and hydraulic ABS in rear axle,with their braking performances evaluated. Hydraulic ABS is based on rule controllers,while continuous regenerative ABS controls slip ratio through target gain,proportional integral and feed-forward/feedback controllers. The results of test on low-adhesion road show that regenerative ABS can accurately track the ideal curve of wheel slip ratio in braking process,reduce the frequency of vehicle body vibration and improve the ride comfort of vehicles.