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Design of Regenerative Anti-Lock Braking System Controller for 4 In-Wheel-Motor Drive Electric Vehicle with Road Surface Estimation

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Abstract

This paper presents a regenerative anti-lock braking system control method with road detection capability. The aim of the proposed methodology is to improve electric vehicle safety and energy economy during braking maneuvers. Vehicle body longitudinal deceleration is used to estimate a road surface. Based on the estimation results, the controller generates an appropriate braking torque to keep an optimal for various road surfaces wheel slip and to regenerate for a given motor the maximum possible amount of energy during vehicle deceleration. A fuzzy logic controller is applied to fulfill the task. The control method is tested on a four in-wheel-motor drive sport utility electric vehicle model. The model is constructed and parametrized according to the specifications provided by the vehicle manufacturer. The simulation results conducted on different road surfaces, including dry, wet and icy, are introduced.

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Abbreviations

ω :

wheel angular speed, rad/s

a vx :

vehicle longitudinal acceleration, m/s2

p b :

braking pressure, bar

r :

wheel radius, m

m :

mass of the quarter vehicle, g

g :

gravitational acceleration, m/s2

T d :

driving torque, Nm

T t :

tire torque, Nm

T b :

total braking torque, Nm

T RB :

regenerative brake torque, Nm

T FB :

friction brake torque, Nm

I w :

inertia about the wheel rotational axis, gm2

k b :

braking coefficient

T j :

phase torque of motor, Nm

I j :

phase current of motor, A

θ :

rotor aligned position of motor, °

L :

phase bulk inductance of motor, H

N :

number of phases of motor

v vx :

vehicle longitudinal velocity, m/s

v wx :

wheel longitudinal velocity, m/s

λ :

wheel slip, %

μ :

tire-road friction coefficient

μ*:

estimated road surface

F x :

longitudinal force, N

F z :

vertical force, N

E c :

net energy consumption, kJ

P d :

power spent on driving, W

P b :

power recovered via regenerative braking area, W

η m :

electric motor efficiency, %

s :

distance, m

a average :

average deceleration, m/s2

ABS IP :

ABS operation index of performance

λ average :

average wheel slip, %

λ e :

actual and optimal wheel slip difference absolute value, %

P reg :

regenerated power comparing to the total power required for deceleration, %

i :

subscript for each wheel; i ∈ [front left (FL), front right (FR), rear left (RL), rear right (RR)]

j :

switched reluctance motor phase number

4WD:

4 in-Wheel-motor Drive

ABS:

Antilock Braking System

ASM:

Automotive Simulation Models™

DOF:

Degree of Freedom

ESP:

Electronic Stability Program

EV:

Electric Vehicle

FLC:

Fuzzy Logic Controller

ICE:

Internal Combustion Engine

MF:

Membership Function

MISO:

Multiple Input, Single Output

PID:

Proportional-Integral-Derivative

SRM:

Switched Reluctance Motor

SUV:

Sport Utility Vehicle

UOD:

Universe of Discourse

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Authors and Affiliations

  1. SKODA AUTO a.s., Tr. Vaclava Klementa 869, Mlada Boleslav, 29301, Czech Republic

    Andrei Aksjonov

  2. Department of Electrical Power Engineering and Mechatronics, School of Engineering, Tallinn University of Technology, Tallinn, 19086, Estonia

    Valery Vodovozov

  3. Automotive Engineering Group, Department of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, 98693, Germany

    Klaus Augsburg

  4. Department of Computer Systems, School of Information Technologies, Tallinn University of Technology, Tallinn, 19086, Estonia

    Eduard Petlenkov

Authors
  1. Andrei Aksjonov
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  2. Valery Vodovozov
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  3. Klaus Augsburg
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  4. Eduard Petlenkov
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Correspondence to Valery Vodovozov.

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Aksjonov, A., Vodovozov, V., Augsburg, K. et al. Design of Regenerative Anti-Lock Braking System Controller for 4 In-Wheel-Motor Drive Electric Vehicle with Road Surface Estimation. Int.J Automot. Technol. 19, 727–742 (2018). https://doi.org/10.1007/s12239-018-0070-8

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  • DOI: https://doi.org/10.1007/s12239-018-0070-8

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