Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.

Design and Analysis of Electro-mechanical Hybrid Anti-lock Braking System for Hybrid Electric Vehicle Utilizing Motor Regenerative Braking

Braking on low adhesion-coefficient roads, hybrid electric vehicle＇s motor regenerative torque is switched off to safeguard the normal anti-lock braking system （ABS） fimction. When the ABS control is terminated, the motor regenerative braking is readmitted. Aiming at avoiding permanent cycles from hydraulic anti-lock braking to motor regenerative braking, a novel electro-mechanical hybrid anti-lock braking system using fuzzy logic is designed. Different from the traditional single control structure, this system has a two-layered hierarchical structure, The first layer is responsible for harmonious adjustment or interaction between regenerative system and anti-lock braking system. The second layer is responsible for braking torque distribution and adjustment. The closed-loop simulation model is built. Control strategy and method for coordination between regenerative and anti-lock braking are developed. Simulation braking on low adhesion-coefficient roads with fuzzy logic control and real vehicle braking field test are presented. The results from simulating analysis and experiment show braking performance of the vehicle is perfect, harmonious coordination between regenerative and anti-lock braking function, significant amount of braking energy can be recovered and the proposed control strategy and method are effective.

A CONTROL STRATEGY OF SWITCHED RELUCTANCE MOTOR FOR ELECTRIC VEHICLE APPLICATION

A control strategy of switched reluctance motor (SRM)for electric vehicle applications is proposed. In electric vehicle application, the switched reluctance motor is a good choice with its flexible control method, compactness, robustness, high efficiency and high starting torque. In this paper, the control strategy of motoring and regenerative braking for electric vehicle application is presented. Computer simulations are employed to analyze the steady state behavior of SRM propulsion system. Experimental results in electric motorcycle are provided to demonstrate the validity of SRM propulsion system.

Driving and Braking Control of PM Synchronous Motor Based on Low-resolution Hall Sensor for Battery Electric Vehicle

Resolvers are normally employed for rotor positioning in motors for electric vehicles, but resolvers are expensive and vulnerable to vibrations. Hall sensors have the advantages of low cost and high reliability, but the positioning accuracy is low. Motors with Hall sensors are typically controlled by six-step commutation algorithm, which brings high torque ripple. This paper studies the high-performance driving and braking control of the in-wheel permanent magnetic synchronous motor （PMSM） based on low-resolution Hall sensors. Field oriented control （FOC） based on Hall-effect sensors is developed to reduce the torque ripple. The positioning accuracy of the Hall sensors is improved by interpolation between two consecutive Hall signals using the estimated motor speed. The position error from the misalignment of the Hall sensors is compensated by the precise calibration of Hall transition timing. The braking control algorithms based on six-step commutation and FOC are studied. Two variants of the six-step commutation braking control, namely, half-bridge commutation and full-bridge commutation, are discussed and compared, which shows that the full-bridge commutation could better explore the potential of the back electro-motive forces （EMF）, thus can deliver higher efficiency and smaller current ripple. The FOC braking is analyzed with the phasor diagrams. At a given motor speed, the motor turns from the regenerative braking mode into the plug braking mode if the braking torque exceeds a certain limit, which is proportional to the motor speed. Tests in the dynamometer show that a smooth control could be realized by FOC driving control and the highest efficiency and the smallest current ripple could be achieved by FOC braking control, compared to six-step commutation braking control. Therefore, FOC braking is selected as the braking control algorithm for electric vehicles. The proposed research ensures a good motor control performance while maintaining low cost and high reliability.

A new braking force distribution strategy for electric vehicle based on regenerative braking strength continuity

Regenerative braking was the process of converting the kinetic energy and potential energy, which were stored in the vehicle body when vehicle braked or went downhill, into electrical energy and storing it into battery. The problem on how to distribute braking forces of front wheel and rear wheel for electric vehicles with four-wheel drive was more complex than that for electric vehicles with front-wheel drive or rear-wheel drive. In this work, the frictional braking forces distribution curve of front wheel and rear wheel is determined by optimizing the braking force distribution curve of hydraulic proportional-adjustable valve, and then the safety brake range is obtained correspondingly. A new braking force distribution strategy based on regenerative braking strength continuity is proposed to solve the braking force distribution problem for electric vehicles with four-wheel drive. Highway fuel economy test(HWFET) driving condition is used to provide the speed signals, the braking force equations of front wheel and rear wheel are expressed with linear equations. The feasibility, effectiveness, and practicality of the new braking force distribution strategy based on regenerative braking strength continuity are verified by regenerative braking strength simulation curve and braking force distribution simulation curves of front wheel and rear wheel. The proposed strategy is simple in structure, easy to be implemented and worthy being spread.

Control Algorithm of Electric Vehicle in Coasting Mode Based on Driving Feeling

Coasting in gear is a common driving mode for the conventional vehicle equipped with the internal combustion engine（ICE）, and the assistant braking function of ICE is utilized to decelerate the vehicle in this mode. However, the electric vehicle（EV） does not have this feature in the coasting mode due to the relatively small inertia of the driving motor, so it will cause the driver cannot obtain the similar driving feeling to that of the conventional vehicle, and even a traffic accident may occur if the driver cannot immediately adapt to the changes. In this paper, the coasting control for EV is researched based on the driving feeling. A conventional vehicle equipped with continuously variable transmission（CVT） is taken as the reference vehicle, and the combined simulation model of EV is established based on AVL CRUISE and MATLAB/Simulink. The torque characteristic of the CVT output shaft is measured in coasting mode, and the data are smoothed and fitted to a polynomial curve. For the EV in coasting mode, if the state of charge（SOC） of the battery is below 95%, the polynomial curve is used as the control target for the torque characteristic of the driving motor, otherwise, the required torque is replaced by hydraulic braking torque to keep the same deceleration. The co-simulation of Matlab/Simulink/Stateflow and AVL CRUISE, as well as the hardware-in-loop experiment combined with d SPACE are carried out to verify the effectiveness and the real-time performance of the control algorithm. The results show that the EV with coasting braking control system has similar driving feeling to that of the reference vehicle, meanwhile, the battery SOC can be increased by 0.036% and 0.021% in the initial speed of 100 km/h and 50 km/h, respectively. The proposed control algorithm for EV is beneficial to improve the driving feeling in coasting mode, and it also makes the EV has the assistant braking function.

Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

Most researches focus on the regenerative braking system design in vehicle components control and braking torque distribution,few combine the connected vehicle technologies into braking velocity planning.If the braking intention is accessed by the vehicle-to-everything communication,the electric vehicles(EVs)could plan the braking velocity for recovering more vehicle kinetic energy.Therefore,this paper presents an energy-optimal braking strategy(EOBS)to improve the energy efficiency of EVs with the consideration of shared braking intention.First,a double-layer control scheme is formulated.In the upper-layer,an energy-optimal braking problem with accessed braking intention is formulated and solved by the distance-based dynamic programming algorithm,which could derive the energy-optimal braking trajectory.In the lower-layer,the nonlinear time-varying vehicle longitudinal dynamics is transformed to the linear time-varying system,then an efficient model predictive controller is designed and solved by quadratic programming algorithm to track the original energy-optimal braking trajectory while ensuring braking comfort and safety.Several simulations are conducted by jointing MATLAB and CarSim,the results demonstrated the proposed EOBS achieves prominent regeneration energy improvement than the regular constant deceleration braking strategy.Finally,the energy-optimal braking mechanism of EVs is investigated based on the analysis of braking deceleration,battery charging power,and motor efficiency,which could be a guide to real-time control.

An Investigation into Regenerative Braking Control Strategy for Hybrid Electric Vehicle

Energy regeneration during braking is an important technique for hybrid electric vehicle (HEV) to improve their fuel economy and extend their driving range. Due to the effect of regenerative braking torque which is added by electric motor, the braking torque distribution between front and rear axles should be changed and the control logic of anti-lock braking system (ABS) ought to be adjusted according to the regenerative braking torque. This paper put forward a braking control strategy for hybrid electric vehicle; the control strategy is implemented with eight DOFs (Degree-of-Freedom) nonlinear vehicle forward simulation model which is built under the environment of Matlab/Simulink. Based on target wheel slip ratio, a fuzzy logic approach was applied to maintain the optimal target slip ratio so that best compromise between hydraulic torque and regenerative torque can be obtained for the vehicle.

Regenerative braking control for hybrid electric vehicles under decelerating condition

The operating mode of a single shaft hybrid electric vehicle （SSHEV） in which the electric motor exerts negative torque on the shaft to imitate engine braking is analyzed. The method of determining the quantity of regenerative braking torque is proposed with the premise that the braking intensity required by the driver is satisfied. On this basis, factors that affect torque generated by the motor are listed, and how the battery＇ s temperature and state of charge （ SOC ） restrict and correct the braking torque is expounded. Finally, road test results show that the motor＇ s constant power or constant torque control is an effective way to recover the mechanical energy during decelerating.

The Summary of the Research on the Compound Braking Strategy of Four Wheel Hub Motor Drive Electric Vehicle

This paper describes in detail three kinds of typical compound braking strategy of wheel motor drive electric vehicle and summarizes the current commonly used strategies based on the three typical strategies developed. In the end, a new compound braking strategy is proposed;that is, we take braking mode classify, ECE regulations and SOC value of the battery as an important reference of braking force that joins the motor braking force, as well as we join the different identification models;according to the different braking modes, the purpose is that we can apply the different braking program.

Electro-mechanical Braking Method in Hybrid Electric Vehicles Based on Feedback Control Theory

In this paper, the hybrid electric vehicle braking process is researched, by using variables consists of HEV speed, motor speed, and state of charge established, fimctions of mechanical braking force, regenerative braking force and efficiency of energy recovery are constructed, and the control goal is to maximization the energy recovery efficiency. Under the feedback control strategy, with the constrain condition of braking strength and braking stability, combining experiments in ADVISOR, in different experiments of different working conditions, we can see that in UDDS Cycle, the regenerative braking efficiency is the best. What＇s more, compared with strategies in ADVISOR, strategy proposed in this paper is obviously better.

A design method for booster motor of brake-by-wire system based on intelligent electric vehicle

The brake-by-wire(BBW)system is an essential part of the intelligent electric vehicle,which is determination of the braking safety and recovery efficiency.To design a safe and efficient booster motor,the design of booster motor for BBW system is discussed in this paper.Through comparative analysis,experimental simulation and assessment argument,the scheme of designing a booster motor for brake-by-wire system is completely described.First,the mainstream structure of the BBW system and the main challenges it faces in the assisted motor are discussed.Second,comparing the motors of different types and structures,the motor body and control system scheme suitable for the characteristics of the booster motor system are determined.Then,through the simulation analysis of the ansoft and matlab,the optimization scheme of the motor and performance improvement are proposed.Further,through the actual design of a set of the booster motor system,the safe and efficient motor designing are verified,and the problems involving functional safety are discussed.Finally,focus on the problem while simulation and experiment,some important countermeasures to improve current technology and prospect of in-depth study are pointed out.

A novel predictive braking energy recovery strategy for electric vehicles considering motor thermal protection

Braking energy recovery(BER)aims to recover the vehicle's kinetic energy by coordinating the motor and mechanical braking torque to extend the driving range of the electric vehicle(EV).To achieve this goal,the motor/generator mode requires frequent switching and prolonged operation during driving.In this case,the motor temperature will unavoidably rise,potentially triggering motor thermal protection(MTP).Activating MTP increases the risk of motor component failure,and the EV typically disables the BER function.Thus,maximizing BER while reducing the risk of motor overheating is a challenging problem.To address this issue,this article proposes a predictive BER strategy with MTP using the non-smooth Pontryagin Minimum Principle(NSPMP)for EVs.Firstly,a Markov long short-term memory(MLSTM)model is designed to obtain future velocity information.Secondly,the BER problem with MTP in the studied EV is embedded in a model predictive control(MPC)framework.Then,under the MPC framework,the NSPMP strategy is proposed to resolve the problem of MTP.Finally,the performance of the proposed strategy is verified through simulation and a hardware-in-loop test.The results show that in two real-world driving cycles,compared to the rule-based strategy,the proposed strategy reduced power consumption by 1.24%and0.96%,respectively,and effectively limited motor temperature.Additionally,under global cycle conditions,this strategy demonstrated better MTP control performance compared to other benchmark strategies.

Experiment Investigation and Control Strategies on Two-Phase Refrigerant Injection Heat Pump System for Electric Vehicle in Start-up Stage

Due to the poor heating performance and operating safety in low ambient temperature,traditional Air Source Heat Pump(ASHP)for Electric Vehicles(EVs)has many limits in cold region,which can be solved by the ASHP with refrigerant injection.During the start-up stage of EV in winter,the inlet air temperature of the in-car condenser is the same as the ambient temperature.At this situation,the performance and control strategy of the heat pump require special attention.In the present study,a series of experiments were carried out on the heating performance of the Refrigerant Injection Heat Pump(RIHP)system in start-up stage of EV,at the ambient temperature from–20℃ to–5℃.The effects of compressor speed and injected refrigerant state on the heating performance of the system were discussed in depth.According to the results,the control strategies during start-up stage have been discussed in the end of the article.The study provides a practical control strategy for the RIHP system during the start-up stage of electric vehicles,helping to efficiently operate electric vehicles in cold regions.

Investigation on the Influence of Refrigerant Charge Amount on the Cooling Performance of Air Conditioning Heat Pump System for Electric Vehicles

The application of air conditioning heat pump(ACHP) in electric vehicles could lead to significant electrical power saving effect. As for an air conditioning heat pump system for electric vehicles, the influence of refrigerant charge amount should be investigated during the design phase. In this study, experimental method was employed to investigate the influence of the refrigerant charge amount on the performance of the ACHP system. The results showed that the refrigerant charge amount had different influence on the refrigerant properties at various locations within the system. The coefficient of performance and pressure-enthalpy diagram were calculated, and showed a close relationship with refrigerant charge amount under different compressor speeds. The degree of subcooling and the degree of superheating were recorded and the critical charge amount was determined by a typical practical test method. In addition, the critical refrigerant charge amount determined by the experimental method was also compared with two typical void fraction correlation models, and the model with consideration of two phase stream reaction of the refrigerant showed a good estimation accuracy on the critical charge amount.

Exergy Analysis of Electric Vehicle Heat Pump Air Conditioning System with Battery Thermal Management System

The exergy analysis of an electric vehicle heat pump air conditioning system(HPACS) with battery thermal management system was carried out by studying the exergy loss of each component. The results indicate that the compressor is the main source of system exergy loss in all operation conditions. The exergy loss distribution of HPACS is almost the same when the battery thermal management system integrated into the HPACS in cabin and battery mixed cooling mode and the system exergy loss was linearly related to the compressor speed in cooling modes. The performance of the HPACS is better than that of the positive temperature coefficient(PTC) heater in cabin heating mode. The degree of exergy efficiency improvement of the alternative mode was discussed at all operation conditions in cabin heating mode. The results indicate that the optimization effect using the electric vehicle HPACS to replace the PTC heater is obvious at lower compressor speed, surrounding temperature and internal condenser air flow rate.

New Method to Restrain Pumping Voltage of Braking Procedure for Brushless DC Motor of Electric Armored Vehicle

In order to restrain the high pumping voltage of braking procedure which is harmful to the system of electric armored vehicle. Based on the analysis of pumping voltage of the braking procedure, the relation between pumping voltage and PWM ratio is derived and a new digital control method to restrain the pumping voltage by changing PWM ratio is put forward. Because the capacitance is decreased effectively, the volume of controller is reduced and the performance to price ratio is improved. The results of computer simulation and experiment proved that this method is feasible and valid.

Critical Speeds of Electric Vehicles for Regenerative Braking

Efficient regenerative braking of electric vehicles(EVs)can enhance the efficiency of an energy storage system(ESS)and reduce the system cost.To ensure swift braking energy recovery,it is paramount to know the upper limit of the regenerative energy during braking.Therefore,this paper,based on 14 typical urban driving cycles,proposes the concept and principle of confidence interval of“probability event”and“likelihood energy”proportion of braking.The critical speeds of EVs for braking energy recovery are defined and studied through case studies.First,high-probability critical braking speed and high-energy critical braking speed are obtained,compared,and analyzed,according to statistical analysis and calculations of the braking randomness and likelihood energy in the urban driving cycles of EVs.Subsequently,a new optimized ESS concept is proposed under the frame of a battery/ultra-capacitor(UC)hybrid energy storage system(HESS)combined with two critical speeds.The battery/UC HESS with 9 UCs can achieve better regenerative braking performances and discharging performances,which indicates that a minimal amount of UCs can be used as auxiliary power source to optimize the ESS.After that,the efficiency regenerative braking model,including the longitudinal dynamics,motor,drivetrain,tire,and wheel slip models,is established.Finally,parameters optimization and performance verification of the optimized HESS are implemented and analyzed using a specific EV.Research results emphasize the significance of the critical speeds of EVs for regenerative braking.

Evaluation of regenerative braking based on single-pedal control for electric vehicles

More than 25%of vehicle kinetic energy can be recycled under urban driving cycles.A single-pedal control strategy for regenerative braking is proposed to further enhance energy efficiency.Acceleration and deceleration are controlled by a single pedal,which alleviates driving intensity and prompts energy recovery.Regenerative braking is theoretically analyzed based on the construction of the single-pedal system,vehicle braking dynamics,and energy conservation law.The single-pedal control strategy is developed by considering daily driving conditions,and a single-pedal simulation model is established.Typical driving cycles are simulated to verify the effectiveness of the single-pedal control strategy.A dynamometer test is conducted to confirm the validity of the simulation model.Results show that using the single-pedal control strategy for electric vehicles can effectively improve the energy recovery rate and extend the driving range under the premise of ensuring safety while braking.The study lays a technical foundation for the optimization of regenerative braking systems and development of single-pedal control systems,which are conducive to the promotion and popularization of electric vehicles.