Brake force sharing to improve lateral stability while regenerative braking in a turn

2017 ◽  
Vol 233 (3) ◽  
pp. 531-547 ◽  
Author(s):  
CS Nanda Kumar ◽  
Shankar C Subramanian
Keyword(s):  
Rear Wheel ◽  
Hybrid Vehicles ◽  
Regenerative Braking ◽  
Lateral Stability ◽  
Loop Control ◽  
Force Sharing ◽  
Wheel Drive ◽  
Brake Force ◽  
Brake Force Distribution ◽  
The Impact

In electric and hybrid vehicles, regenerative braking is applied only at the driven wheels by the electric drive, whereas the non-driven wheels are not subjected to brake force during the pure regenerative braking mode. The application of pure regenerative brake may affect the vehicle’s lateral stability during a turn. The impact could be more severe when the pure regenerative brake is applied at the turn on the rear wheels (for a rear wheel drive vehicle) over a low friction road surface. As part of a solution to reduce this impact, a brake force sharing (BFS) strategy between regenerative and friction brake has been proposed in this paper, which improves the brake force distribution between front and rear wheels to ensure a stable turn. The vehicle model and the BFS strategy were developed, and the IPG Car Maker® software was used to evaluate the effectiveness of the proposed strategy. The simulation results on BFS strategy have been corroborated using experimental data collected from a test vehicle. Further, a closed loop control structure was developed for implementing the proposed BFS strategy in electric and hybrid vehicles.

Collaborative control of a dual electro-hydraulic regenerative brake system for a rear-wheel-drive electric vehicle

2018 ◽  
Vol 233 (4) ◽  
pp. 1035-1046 ◽  
Author(s):  
Jonathan Nadeau ◽  
Philippe Micheau ◽  
Maxime Boisvert
Keyword(s):  
Electric Vehicle ◽  
Energy Recovery ◽  
Rear Wheel ◽  
Brake System ◽  
Force Distribution ◽  
Hydraulic Brake ◽  
Brake Pressure ◽  
Wheel Drive ◽  
Brake Force ◽  
Brake Force Distribution

Within the field of electric vehicles, the cooperative control of a dual electro-hydraulic regenerative brake system using the foot brake pedal as the sole input of driver brake requests is a challenging control problem, especially when the electro-hydraulic brake system features on/off solenoid valves which are widely used in the automotive industry. This type of hydraulic actuator is hard to use to perform a fine brake pressure regulation. Thus, this paper focuses on the implementation of a novel controller design for a dual electro-hydraulic regenerative brake system featuring on/off solenoid valves which track an “ideal” brake force distribution. As an improvement to a standard brake force distribution, it can provide the reach of the maximum braking adherence and can improve the energy recovery of a rear-wheel-drive electric vehicle. This improvement in energy recovery is possible with the complete substitution of the rear hydraulic brake force with a regenerative brake force until the reach of the electric powertrain constraints. It is done by performing a proper brake pressure fine regulation through the proposed variable structure control of the on/off solenoid valves provided by the hydraulic platform of the vehicle stability system. Through road tests, the tracking feasibility of the proposed brake force distribution with the mechatronic system developed is validated.

Analysis of Vehicle Lateral Response During Regenerative Braking in a Turn

2016 ◽  
Author(s):  
C. S. Nanda Kumar ◽  
Shankar C. Subramanian
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Regenerative Braking ◽  
Steering Wheel ◽  
Slip Angle ◽  
Lateral Response ◽  
Wheel Drive ◽  
Reference Track ◽  
The Impact

Regenerative braking is applied only at the driven wheels in electric and hybrid vehicles. The presence of brake force only at the driven wheels reduces the lateral traction limit of the corresponding tires. This impacts the vehicle lateral response, particularly while applying the regenerative brake in a turn. In this paper, a detailed study was made on the impact of regenerative brake on the vehicle lateral response in front wheel drive and rear wheel drive configurations on dry and wet asphalt road surfaces. Simulations were done considering a typical set of vehicle parameters with the IPG CarMaker® software for different drive conditions and braking configurations along the same reference track. The steering wheel angle, yaw rate, lateral acceleration, vehicle slip angle, and tire forces were obtained. Further, they were compared against the conventional all wheel friction brake configuration. The regenerative braking configuration that had the most impact on vehicle lateral response was analyzed and response variations were quantified.

An integrated control of front in-wheel motors and rear electronic limited slip differential for high-speed cornering performance

2021 ◽  
pp. 095440702110455
Author(s):  
Hyunsoo Cha ◽  
Youngjin Hyun ◽  
Kyongsu Yi ◽  
Jaeyong Park
Keyword(s):  
High Speed ◽  
Integrated Control ◽  
Rear Wheel ◽  
Target Motion ◽  
Lateral Stability ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Upper Level ◽  
Vehicle Test ◽  
Tire Friction

This paper presents an integrated control of in-wheel motor (IWM) and electronic limited slip differential (eLSD) for high-speed cornering performance. The proposed algorithm is designed to improve the handling performance near the limits of handling. The proposed controller consists of a supervisor, upper-level controller, and lower-level controller. First, the supervisor determines a target motion based on the yaw rate reference with a target understeer gradient. The target understeer gradient is devised to improve the lateral stability with in-wheel motor control based on a nonlinear static map. The yaw rate reference is designed based on the target understeer gradient to track the yaw reference with eLSD control. Second, the upper-level controller calculates the desired yaw moments for IWM and eLSD to generate the target motion. Third, the lower-level controller converts the desired yaw moment to the actuator torque commands for IWMs and eLSD. The tire friction limits are estimated based on the tire model and friction circle model to prevent tire saturation by limiting the torque inputs. The proposed algorithm has been investigated via both simulations and vehicle tests. The performance of the integrated control was compared with those of individual control and uncontrolled case in the simulation study. The vehicle tests have been performed using a rear wheel drive vehicle equipped with two front IWMs and eLSD in the rear axle. The vehicle test has been conducted at a racing track to show that the proposed algorithm can improve the lateral stability near the limits of handling.

A Robust Servo-Electronic Controller for Brake Force Distribution

1990 ◽  
Vol 112 (3) ◽  
pp. 442-447 ◽  
Author(s):  
M. A. Salman
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Wheel Speed ◽  
Force Distribution ◽  
Response Data ◽  
Speed Tracking ◽  
Brake Force ◽  
Brake Force Distribution ◽  
Line Pressure ◽  
Electronic Controller

In this paper a control system which achieves ideal brake force distribution between the front and the rear wheels of a vehicle during normal braking is studied. Ideal brake proportioning is achieved by dynamically controlling the rear-wheel speed to track the front-wheel speed. Electro-hydraulic brake actuators, which are installed at the rear brakes of the vehicle, are used to modulate the brake-line pressure. A simple linear model of the actuators was developed. This model is derived from experimental response data. Based on this model, a robust servomechanism controller, which achieves ideal brake proportioning by rear-wheel speed control, is designed, implemented, and tested. Test results indicate that the robust servo-mechanism controller achieves a very good wheel speed tracking performance.

A Variable Proportional Valve Braking Force Distribution Strategy Including SOC Constraints of Electric Vehicles

2014 ◽  
Vol 597 ◽  
pp. 525-530
Author(s):  
Hong Xia Yu ◽  
Zhen Yang Lin
Keyword(s):  
Electric Vehicles ◽  
Energy Recovery ◽  
Distribution Area ◽  
Regenerative Braking ◽  
Force Distribution ◽  
Proportional Valve ◽  
Brake Force ◽  
Distribution Line ◽  
Braking Force ◽  
Brake Force Distribution

Braking force distribution plays an important role in energy recovery of electric vehicles. A new braking force distribution based on the variable proportional valve is proposed to solve the traditional proportional valve braking force distribution problem. By considering the safety brake force distribution area, the variable proportional valve friction braking force distribution line is optimized, the regenerative braking force equations are deduced using the optimized friction braking force distribution line at different braking intensity, then the regenerative braking force is corrected by considering mechanical characteristics of motor and SOC of battery constraints. Simulation results show that the proposed regenerative braking energy recovery has been significantly improved.

Regenerative Braking System for a Pure Electric Bus

2014 ◽  
Vol 543-547 ◽  
pp. 1405-1408 ◽  
Author(s):  
Jian Wei Cai ◽  
Liang Chu ◽  
Zi Cheng Fu ◽  
Li Peng Ren
Keyword(s):  
Control Strategies ◽  
Brake System ◽  
Regenerative Braking ◽  
Braking Performance ◽  
Braking System ◽  
Electric Bus ◽  
Brake Force ◽  
Braking Control ◽  
Vehicle Test ◽  
Brake Force Distribution

A design of regenerative braking system (RBS) for a pure electric bus was presented in this paper. A design of regenerative braking system for a pure electric bus was presented in this paper The control of regenerative braking was achieved by Pneumatic ABS and improve braking energy recovery under the premise of ensure braking performance. Regenerative braking control algorithm was mainly composed of two parts for the identification of the drivers intention and the brake force distribution. The regenerative brake control model was built in the matlab/simulink environment, rapid prototyping control was achieved by Autobox and vehicle test was carried on. Result shows that the control strategies can effectively make the pneumatic brake system and motor brake system work harmoniously.

Analyses of the Relations Between Driving Types and Regenerative Braking in Electric Vehicles

2014 ◽  
Vol 926-930 ◽  
pp. 896-900
Author(s):  
Jin Long Liu ◽  
Zhi Wei Gao ◽  
Jing Ming Zhang
Keyword(s):  
Distribution Coefficient ◽  
Electric Vehicles ◽  
Theoretical Models ◽  
Rear Wheel ◽  
Front Wheel ◽  
Regenerative Braking ◽  
Force Distribution ◽  
Wheel Drive ◽  
Braking Force ◽  
Four Wheel Drive

The relations between Electric Vehicle (EV) drive arrangement and efficiency of regenerative braking were discussed. Firstly, conclusions were concluded according to the analyses of theoretical models. And then the validity of conclusions was proved by the simulations basing on the software of MATLAB/SIMULINK. The results indicate that the EV with four-wheel drive (4WD) pattern has the highest efficiency in regenerative braking mode. It also shows that whether the EV with front-wheel drive (FWD) pattern has higher efficiency than the EV with rear-wheel drive (RWD) pattern in regenerative braking mode depends on the braking force distribution coefficient.

Analysis of cornering response and stability of electrified heavy commercial road vehicles with regenerative braking

2019 ◽  
Vol 234 (6) ◽  
pp. 1672-1689 ◽  
Author(s):  
Kesavan Valis Subramaniyam ◽  
Shankar C Subramanian
Keyword(s):  
Research Work ◽  
Sensitivity Study ◽  
Center Of Gravity ◽  
Simulation Software ◽  
Regenerative Braking ◽  
Force Distribution ◽  
Road Vehicle ◽  
Vehicle Simulation ◽  
Brake Force ◽  
Brake Force Distribution

Additional powertrain components and regenerative braking are two important factors that may affect the performance and stability of electrified vehicle cornering. The location of additional components affects the vehicle’s center of gravity (CG) position and thereby the stability of the vehicle. As regenerative braking is possible only on driven wheels, the brake force distribution between front and rear wheels may not follow the ideal brake force distribution curve. Hence, applying maximum regenerative braking during cornering may affect vehicle stability, and this has motivated the analysis presented in this paper. The scope of this research work includes obtaining a model for the regenerative brake system, which was then used to analyze the heavy commercial road vehicle lateral dynamic response during combined cornering and regenerative braking. A sensitivity study was carried out regarding variations in center of gravity, longitudinal speed, and tire–road traction coefficient [Formula: see text]. The IPG TruckMaker® vehicle simulation software running in a hardware-in-loop experimental system was used to study the heavy road vehicle cornering performance. The results showed that applying braking on a constant radius path required correction in the steering input to follow the desired path. However, the amount of steering correction required during regenerative braking was higher than that with conventional friction braking. Moreover, applying maximum regenerative braking at higher longitudinal speeds on snowy roads and split- µ roads has a higher impact on vehicle cornering performance compared with that on dry roads. Furthermore, a co-operative braking strategy with an optimum brake force sharing between regenerative braking and friction braking was developed to improve the electrified heavy commercial road vehicle’s cornering stability and handling performance during cornering and braking.

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