分布式四驱电动汽车并联制动控制研究

Research on Parallel Braking Control of Distributed Four-wheel-drive Electric Vehicle

针对分布式四驱电动汽车,考虑再生制动系统的工程应用需求,以制动安全性、稳定性为主,兼顾制动经济性,提出了分布式并联制动控制策略。该策略采用分层控制结构,包括期望横摆力矩制定层、四轮电制动力分配层、制动力约束条件层。设计的并联制动控制策略基于直接横摆力矩控制优化了车辆制动时的稳定性,并综合考虑制动强度、电池SOC值、车速等约束条件,提高了制动经济性。最后,进行了分布式四驱电动汽车实车试验,验证了设计的并联制动控制策略在直角弯制动和单移线制动工况下的有效性。

Considering the engineering application requirements of regenerative braking system,a distributed parallel braking control strategy is proposed for distributed four-wheel-drive electric vehicle,which mainly focuses on braking safety and stability,while taking into account braking economy.The strategy adopts a hierarchical control structure,including the desired yaw moment formulation layer,the four-wheel electric braking force distribution layer and braking force constraint layer.Based on the direct yaw moment control,the designed parallel braking control strategy optimizes the braking stability of the vehicle,and comprehensively considers the constraints such as braking strength,battery SOC value,and vehicle speed to improve the braking economy.Finally,a real vehicle test is carried out to verify the effectiveness of the designed parallel braking control strategy under the conditions of right angle turn braking and single lane change braking.