Parallel compound braking strategy of vehicle driven by wheel motor
Based on the real vehicle configuration driven by parallel hub motor,the main factors affecting the braking energy recovery efficiency were analyzed,and the Federal Kalman filter longitudinal speed estimation algorithm was used to propose the three-layer compound braking control strategy.By the braking decision-making layer,the braking conditions were identified and entered into the corresponding braking mode according to the pedal input and driving state.According to the decision,by the braking control layer,the electric braking torque distribution of the front and rear wheels was optimized through particle swarm optimization(PSO)under conventional braking conditions to maximize the effective battery recovery efficiency.Under emergency braking conditions,the fuzzy self-tuning PID algorithm was used to realize the safe and effective control of the slip rate of each wheel on different adhesion roads,and the robustness of the anti lock braking control was optimized with improved braking safety.The command of the control layer was responded by the braking executive layer,and the electric braking compensation mechanism was designed to quickly compensate and adjust the pressure error of each wheel cylinder for improving the braking stability of the vehicle.The control strategy was verified by the real vehicle.
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