scholarly journals A Novel Emergency Braking Control Strategy for Dual-Motor Electric Drive Tracked Vehicles Based on Regenerative Braking

2019 ◽  
Vol 9 (12) ◽  
pp. 2480
Author(s):  
Zhaomeng Chen ◽  
Xiaojun Zhou ◽  
Zhe Wang ◽  
Yaoheng Li ◽  
Bo Hu
Keyword(s):  
Electric Drive ◽  
Control Strategy ◽  
Sliding Mode ◽  
Slip Ratio ◽  
Tracked Vehicles ◽  
Emergency Braking ◽  
Ground Conditions ◽  
Antilock Braking ◽  
The Difference ◽  
Braking Control

Dual-motor electric drive tracked vehicles (DDTVs) have drawn much attention in the trends of hybridization and electrification for tracked vehicles. Their transmission chains differ significantly from the traditional ones. Due to the complication and slug of a traditional tracked vehicle braking system, as well as the difference of track-ground with tire-road, research of antilock braking control of tracked vehicles is rather lacking. With the application of permanent magnet synchronous motors (PMSMs), applying an advanced braking control strategy becomes practical. This paper develops a novel emergency braking control strategy using a sliding mode slip ratio controller and a rule-based braking torque allocating method. Simulations are conducted under various track-ground conditions for comparing the control performance of the proposed strategy with three other strategies including the full braking strategy, traditional antilock braking strategy, as well as sliding mode slip ratio strategy without the use of motors. For an initial speed of 80 km/h, simulation results show that the proposed control strategy performs the best among all strategies mentioned above. Several hardware-in-the-loop (HIL) experiments are conducted under the same track-ground conditions as the ones in the simulations. The experiment results verified the validity of the proposed emergency braking control strategy.

scholarly journals Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Guo Lie ◽  
Ren Zejian ◽  
Ge Pingshu ◽  
Chang Jing
Keyword(s):  
Collision Avoidance ◽  
Controller Design ◽  
Sliding Mode ◽  
Vulnerable Groups ◽  
Control Effect ◽  
Longitudinal Dynamics ◽  
Emergency Braking ◽  
Collision Avoidance System ◽  
Braking Control ◽  
Single Neuron Pid

Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

scholarly journals Design and Optimization of the Power Management Strategy of an Electric Drive Tracked Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Qunzhang Tu ◽  
Xiaochen Zhang ◽  
Ming Pan ◽  
Chengming Jiang ◽  
Jinhong Xue
Keyword(s):  
Power Management ◽  
Electric Drive ◽  
Fuel Economy ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Management Control ◽  
Drive System ◽  
Tracked Vehicles ◽  
Hybrid Particle Swarm Optimization ◽  
Electric Drive System

This article studies the power management control strategy of electric drive system and, in particular, improves the fuel economy for electric drive tracked vehicles. Combined with theoretical analysis and experimental data, real-time control oriented models of electric drive system are established. Taking into account the workloads of engine and the SOC (state of charge) of battery, a fuzzy logic based power management control strategy is proposed. In order to achieve a further improvement in fuel economic, a DEHPSO algorithm (differential evolution based hybrid particle swarm optimization) is adopted to optimize the membership functions of fuzzy controller. Finally, to verify the validity of control strategy, a HILS (hardware-in-the-loop simulation) platform is built based on dSPACE and related experiments are carried out. The results indicate that the proposed strategy obtained good effects on power management, which achieves high working efficiency and power output capacity. Optimized by DEHPSO algorithm, fuel consumption of the system is decreased by 4.88% and the fuel economy is obviously improved, which will offer an effective way to improve integrated performance of electric drive tracked vehicles.

A Research on Anti-Slip Regulation for 4WD Electric Vehicle with In-Wheel Motors

2013 ◽  
Vol 347-350 ◽  
pp. 753-757
Author(s):  
Li Zhou ◽  
Lu Xiong ◽  
Zhuo Ping Yu
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Traction Force ◽  
Slip Rate ◽  
Control Effect ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Tire Force ◽  
Optimal Slip Ratio ◽  
Electrical Vehicle

This paper proposes a wheel slip control strategy for 4WD Electrical Vehicle with In-wheel Motors. In the first part of this paper, a brief introduction of sliding mode control for acceleration slip regulation is given. Consider that its control effect varies with road conditions, another algorithm which can automatically adapt to different roads is designed. This method takes advantage of the peculiarity of the longitudinal static tire force curve and regulates wheel slip ratio to the detected optimal value, aiming to maximize the traction force while preserving sufficient lateral tire force. Simulation results show that the slip rate can be regulated to a value around the optimal slip ratio, and the driving torque is very close to the maximum transmissible torque. The control strategy achieves stronger stability, shorter driving distance and hence better control performance.

scholarly journals Cooperative Control of Regenerative Braking and Antilock Braking for a Hybrid Electric Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Guodong Yin ◽  
XianJian Jin
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Hybrid Electric Vehicle ◽  
Regenerative Braking ◽  
Braking System ◽  
Antilock Braking System ◽  
Braking Torque ◽  
Antilock Braking ◽  
Hybrid Electric ◽  
Braking Control

A new cooperative braking control strategy (CBCS) is proposed for a parallel hybrid electric vehicle (HEV) with both a regenerative braking system and an antilock braking system (ABS) to achieve improved braking performance and energy regeneration. The braking system of the vehicle is based on a new method of HEV braking torque distribution that makes the antilock braking system work together with the regenerative braking system harmoniously. In the cooperative braking control strategy, a sliding mode controller (SMC) for ABS is designed to maintain the wheel slip within an optimal range by adjusting the hydraulic braking torque continuously; to reduce the chattering in SMC, a boundary-layer method with moderate tuning of a saturation function is also investigated; based on the wheel slip ratio, battery state of charge (SOC), and the motor speed, a fuzzy logic control strategy (FLC) is applied to adjust the regenerative braking torque dynamically. In order to evaluate the performance of the cooperative braking control strategy, the braking system model of a hybrid electric vehicle is built in MATLAB/SIMULINK. It is found from the simulation that the cooperative braking control strategy suggested in this paper provides satisfactory braking performance, passenger comfort, and high regenerative efficiency.

scholarly journals Backstepping Fuzzy Sliding Mode Control for the Antiskid Braking System of Unmanned Aerial Vehicles

Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1731
Author(s):  
Xi Zhang ◽  
Hui Lin
Keyword(s):  
Sliding Mode Control ◽  
Unmanned Aerial Vehicles ◽  
Control Strategy ◽  
Sliding Mode ◽  
Pressure Control ◽  
Slip Ratio ◽  
Fuzzy Sliding Mode Control ◽  
Braking System ◽  
Mode Control ◽  
Fuzzy Sliding Mode

This paper proposes a backstepping fuzzy sliding mode control method for the antiskid braking system (ABS) of unmanned aerial vehicles (UAVs). First, the longitudinal dynamic model of the UAV braking system is established and combined with the model of the electromechanical actuator (EMA), based on reasonable simplification. Subsequently, to overcome the higher-order nonlinearity of the braking system and ensure the lateral stability of the UAV during the braking process, an ABS controller is designed using the barrier Lyapunov function to ensure that the slip ratio can track the reference value without exceeding the preset range. Then, a power fast terminal sliding mode control algorithm is adopted to realize high-performance braking pressure control, which is required in the ABS controller, and a fuzzy corrector is established to improve the dynamic adaptation of the EMA controller in different braking pressure ranges. The experimental results show that the proposed braking pressure control strategy can improve the servo performance of the EMA, and the hardware in loop (HIL) experimental results indicate that the proposed slip ratio control strategy demonstrates a satisfactory performance in terms of stability under various runway conditions.

Stability control of a vehicle with tire blowout based on active steering and differential braking

2021 ◽  
Author(s):  
Zang Liguo ◽  
Wu Yibin ◽  
Wang Xingyu ◽  
Wang Zhi ◽  
Li Yaowei
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Great Influence ◽  
Stability Control ◽  
Front Wheel ◽  
Control Algorithms ◽  
Tail Flick ◽  
Fuzzy Pid Control ◽  
Combined Control ◽  
Braking Control

The vehicle with tire blowout will have dangerous working conditions such as yaw and tail flick, which will seriously endanger the safety of driving. A tire blowout model was established based on the UniTire model and the change of tire blowout mechanical characteristics. A Carsim/Simulink joint simulation platform was built to study the dynamic response of the vehicle after the front wheel tire blowout under curve driving. A combined control strategy of outer-loop trajectory control and inner-loop differential braking control based on sliding mode fuzzy control algorithms and fuzzy PID control algorithms was proposed to ensure that the vehicle can still follow the original trajectory stably after tire blowout. The results show that the tire blowout of the front wheel on the same side as the turning direction has a great influence on the instability and yaw of the vehicle, and the designed control strategy can effectively control the running track of the vehicle with tire blowout and the vehicle stability.

Study on an EV Traction Control Strategy

2011 ◽  
Vol 141 ◽  
pp. 605-610
Author(s):  
Shi Rong Yan ◽  
Shi Zhong Li
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Current Loop ◽  
Traction Control ◽  
Field Weakening ◽  
Electrical Vehicle ◽  
Working Principle ◽  
Braking Control ◽  
Maximum Torque Per Ampere

According to an electrical vehicle (EV) construction and working principle, a dynamic model governing its motion was established. A built-in permanent magnet synchronous motor was selected as its driving motor and a mathematical model about the motor working principle was described also. To get good motion effect, a motor driving control system with a current loop and a speed loop was developed. The current loop consists of maximum torque per ampere control and field weakening control. The speed loop is based on a sliding mode control. To make the EV working more smooth, stable and safer, its traction control includes driving motor control and wheel braking control. During some acceleration or cornering, wheel braking control is introduced to keep driving wheels in good slip states, especially to make the car in a good stable and safe state. Simulation study based on MATLAB/Simulink showed the control strategy developed here can make the EV work well, even when it runs on some asymmetric road.

Application of Sliding Mode Control for Electric Vehicle Antilock Braking Systems

2012 ◽  
Vol 505 ◽  
pp. 440-446 ◽  
Author(s):  
Jin Gang Guo ◽  
Jun Ping Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Optimization ◽  
Disturbance Attenuation ◽  
Regenerative Braking ◽  
Slip Ratio ◽  
Mode Control ◽  
Antilock Braking System ◽  
Braking Force ◽  
Antilock Braking

An antilock braking method based on sliding mode control (SMC) for electric vehicles (EVs) is proposed on the basis of antilock braking dynamics model, and hence an SMC controller of antilock braking system is designed. Aiming at the chattering of SMC, a method of parameter fuzzy optimization for exponential approach law is proposed, which can meet the requirements for small chattering, strong disturbance attenuation and fast convergence. In order to take full advantage of regenerative braking force, a method of braking force distribution between mechanical and electrical braking systems is elaborated. The simulations on the road with different friction coefficients show that the vehicle speed is in good agreement with the wheel speed during braking, and the slip ratio is kept within an optimal range. Adopting SMC based on fuzzy optimization, optimal slip ratio can be tracked fast and accurately. Furthermore, since the regenerative braking force is made full use of during braking, the energy recovery efficiency is high.

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