To use regenerative brake and mechanical brake co-operatively to maintain the constant speed and the braking energy can be regenerated as much as possible when vehicles travel downhill, the mathematical model of the braking system is established, and the adaptive model predictive control method is adopted to control the speed of vehicles. The recursive least square algorithm with the forgetting factor is used to identify the road gradient online. And then the control results of the adaptive model predictive control are compared with the results of PID control, simulation results show that the robustness and the stability of the adaptive model predictive control method are better. The speed can be maintained basic stability with the coordinated use of the regenerative braking and the mechanical braking. Meanwhile, the braking energy can be regenerated as much as possible as the regenerative braking system can be used as much as possible. Moreover, as the charge acceptance ability of the battery is restricted, the brake mode switching model is designed. The braking mode can be switched between the electro-mechanical braking system and mechanical braking system according to the SOC of the batteries.
Improved Continuous Control Set Model Predictive Control for Three-Phase CVCF Inverters: Fuzzy Logic Approach
