Torque coordination control during the braking mode transition of an electric vehicle

PDF(2054 KB)

Journal of Vibration and Shock ›› 2021, Vol. 40 ›› Issue (10) : 304-314.

YANG Yang1,2, HE Yundong2, LUO Chang2, YANG Zhong3

Author information +

History +

Abstract

Differences in dynamic response characteristics of an electro-hydraulic braking system cause the jerk of the vehicle and its components during brake mode transition, which affects the ride comfort of the vehicle and the service life of components.In order to reduce the jerk of vehicle and the total braking torque fluctuation, the wheel cylinder pressure was accurately controlled by a combined control algorithm containing a proportional-integral-derivate (PID) and fuzzy controller.Then the dynamic model of the hydraulic braking system was selected as the reference model.Differences between the response characteristics of the electric motor braking system and the hydraulic braking system can be reduced by controlling the electric motor braking torque′s variation according to the torque output calculated by the reference model.The vehicle model and electro-hydraulic brake model were built using MALAB/Simulink, and the effectiveness of the proposed control strategy was verified.Compared with the mode transition without coordination, the results show that the total braking torque fluctuation and the vehicle jerk are significantly reduced by using the mode transition with coordination, which improves the ride comfort of the vehicle.

Key words

electric vehicle;electro-hydraulic brake / mode transition / torque coordination control / jerk

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

YANG Yang1,2, HE Yundong2, LUO Chang2, YANG Zhong3. Torque coordination control during the braking mode transition of an electric vehicle[J]. Journal of Vibration and Shock, 2021, 40(10): 304-314

References

［1］NIU G, ARRIBAS A P, SALAMEH M, et al.Hybrid energy storage systems in electric vehicle［C］∥2015 IEEE Transportation Electrification Conference and Expo.Dearborn:IEEE, 2015.
［2］NIU G, SHANG F, KRISHNAMURTHY M, et al.Design and analysis of an electric hydraulic hybrid powertrain in electric vehicles［J］.IEEE Transactions on Transportation Electrification, 2017, 3(1): 48-57.
［3］张权让.四驱插电式混合动力汽车电液复合制动系统压力协调控制［D］.重庆:重庆大学, 2018.
［4］DIZQAH A M, LENZO B, SORNIOTTI A, et al.A fast and parametric torque distribution strategy for four-wheel-drive energy-efficient electric vehicles［J］.IEEE Transactions on Industrial Electronics,2016, 63(7): 4367-4376.
［5］OKANO T, SAKAI S I, UCHIDA T, et al.Braking performance improvement for hybrid electric vehicle based on electric motor's quick torque response［C］∥Proceedings of the 19th International Electric Vehicle Symposium and Exhibition.Busan:IEVSE,2002．
［6］HE C K, ZHANG J Z, WANG L F, et al.Dynamic load emulation of regenerative braking system during electrified vehicle braking states transition［C］∥2013 IEEE Vehicle Power and Propulsion Conference.Beijing:IEEE, 2013.
［7］L C, ZHANG J, LI Y, et al.Synthesis of a hybrid-observer-based active controller for compensating powetrain backlash nonlinearity of an electric vehicle during regenerative braking［J］.SAE International Journal of Alternative Powertrains,2015, 4(1): 190-198.
［8］吕辰.电驱动车辆回馈制动力与摩擦制动力动态耦合控制［D］.北京: 清华大学, 2015.
［9］ZHANG Z, MA R, WANG L, et al.Novel PMSM control for anti-lock braking considering transmission properties of the electric vehicle［J］.IEEE Transactions on Vehicular Technology,2018, 67(11): 10378-10386.
［10］YANG Y, WANG C, ZHANG Q, et al.Torque coordination control during braking mode switch for a plug-in hybrid electric vehicle［J］.Energies,2017, 10(11): 1684.
［11］YU Z P, SHI B F, XIONG L, et al.Coordinated control under transitional conditions in hybrid braking of electric vehicle［C］∥Brake Colloquium & Exhibition-36th Annual.Palm Desert:SAE International, 2018.
［12］余卓平，史彪飞，熊璐，等.集成式电子液压制动系统的复合制动协调控制［J］.同济大学学报(自然科学版), 2019, 47(6): 851-856.
YU Zhuoping, SHI Biaofei，XIONG Lu, et al.Coordinated control of hybrid braking based on integrated-electro-hydraulic brake system ［J］.Journal of Tongji University(Natural Science), 2019, 47(6): 851-856.
［13］袁雷，胡冰新，魏克银，等.现代永磁同步电机控制原理及MATLAB仿真［M］.北京：北京航空航天大学出版社，2016.
［14］ZHONG Z, LI J, ZHOU S, et al.Torque ripple description and its suppression through flux linkage reconstruction［J］.SAE International Journal of Alternative Powertrains, 2017, 6(2):175-182.
［15］GERAMI TEHRANI M, KELKKA J, SOPANEN J, et al.Electric vehicle energy consumption simulation by modeling the efficiency of driveline components［J］.SAE International Journal of Commercial Vehicles,2016, 9(1): 31-39.
［16］HAN W, XIONG L, YU Z.A novel pressure control strategy of an electro-hydraulic brake system via fusion of control signals［J］.Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2019, 233(13): 3342-3357.
［17］李静，丁明慧，黄建凌，等.开关电磁阀非线性流量可控性评价与优化［J］.吉林大学学报(工学版),2019,49(2): 325-335.
LI Jing, DING Minghui, HUANG Jianling.Evaluation and optimization of the nonlinear flow controllability of on-off solenoid valve ［J］.Journal of Jilin University (Engineering and Technology Edition),2019,49(2):325-335.
［18］YANG Y, LI G, ZHANG Q.A pressure-coordinated control for vehicle electro-hydraulic braking systems［J］.Energies，2018, 11(9): 2336.
［19］谢志伟.电子液压制动精确建模及精细压力控制研究［D］.吉林:吉林大学, 2015.
［20］刘丽君，姬芬竹，杨世春，等.基于ECE法规和Ⅰ曲线的机电复合制动控制策略［J］.北京航空航天大学学报，2013, 39(1): 138-142.
LIU Lijun, JI Fenzhu, YANG Shichun, et al.Control strategy for electro-mechanical braking based on curves of ECE regulations and ideal braking force ［J］.Journal of Beijing University of Aeronautics and Astronautics，2013, 39(1):138-142.
［21］FUJIMOTO H, HARADA S.Model-based range extension control system for electric vehicles with front and rear driving-braking force distributions［J］.IEEE Transactions on Industrial Electronics， 2015, 62(5): 3245-3254.
［22］刘杨，孙泽昌，王猛.一体式电液复合制动系统制动力协调控制及试验［J］.吉林大学学报(工学版), 2016, 46(3): 718-724.
LIU Yang, SUN Zechang, WANG Meng.Brake force cooperative control and test for integrated electro-hydraulic brake system ［J］.Journal of Jilin University (Engineering and Technology Edition),2016, 46(3): 718-724.
［23］PI D, CHENG Q, XIE B, et al.A novel pneumatic brake pressure control algorithm for regenerative braking system of electric commercial trucks［J］.IEEE Access， 2019, 7: 83372-83383.
［24］王伟玮，宋健，李亮，等.高速开关阀在高频PWM控制下的比例功能［J］.清华大学学报(自然科学版)，2011, 51(5): 715-719.
WANG Weiwei, SONG Jian, LI Liang,et al.High speed on-off solenoid valve with proportional control based on high frequency PWM control［J］.Journal of Tsinghua University (Science and Technology)，2011, 51(5): 715-719.