Distributed drive electric vehicle braking anti-lock braking control method and system

Abstract

The invention discloses a distributed drive electric automobile brake anti-lock control method and system. The method comprises the following steps: filtering the current speed of an automobile by adopting unscented Kalman filtering; determining the current slip rate of each wheel according to the current speed of the automobile; calculating the current utilization adhesion coefficient of each wheel of the automobile; inputting the current slip rate and the current utilization attachment coefficient into an adaptive neural network model to obtain the optimal slip rate and the maximum utilization attachment coefficient of the current pavement; according to Thb = (mumaxFz-Freg) r, calculating the magnitude of braking torque Thb, needing to be provided by a hydraulic braking system, of each wheel to be recorded as first braking torque; according to Teb = TSMC-Thb, calculating the magnitude of the braking torque Teb, needing to be provided by a hub motor of each wheel, of each wheel to berecorded as a second braking torque; and in the anti-lock braking process of the automobile, controlling the braking torque output by the hydraulic braking system and the braking torque output by eachwheel hub motor according to the first braking torque and the second braking torque. The emergency braking effect is improved.

Description

technical field [0001] The invention relates to the technical field of anti-lock brake control, in particular to a method and system for anti-lock brake control of a distributed drive electric vehicle. Background technique [0002] At present, most electric vehicles still use the ABS (Anti-lock Braking System) system of traditional vehicles in the anti-lock braking system, that is, the hydraulic anti-lock braking system. It mainly includes brake pedal, vacuum booster, brake master cylinder, ABS pressure regulation module, brake pipeline and brake calipers. In addition, the anti-lock brake device also has a pneumatic anti-lock brake system, which differs from the hydraulic anti-lock brake system in that the working medium is high-pressure air. The above two anti-lock braking systems are mature commercial products. [0003] In the hydraulic braking system, it takes a certain amount of time to build up the oil pressure in the brake line, and due to factors such as the compres...

AI Technical Summary

Problems solved by technology

In addition, the air pressure anti-lock braking system is large in size and weight, and is mostly used in commercial trucks with heavy loads, and cannot be used in electric passenger vehicles

[0004] The motor of an electric vehicle can provide a certain regenerative braking force with quick response and stable braking force, but its regenerative braking capability is affected by many conditions, such as the maximum braking power of the motor, the maximum supply current of the energy storage device, etc., so the electric vehicle The regenerative braking force generated during braking is often limited and not enough to meet the total braking demand of the vehicle

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