Anti-lock control method for electric automobile based on model prediction

Abstract

Provided is an anti-lock control method for an electrical automobile based on model prediction. The method is characterized by comprising a desired slip ratio module, a tire data processor, an MPC controller, a Carsim automobile model, a slip ratio calculation module and a braking torque distribution module. The desired slip rate module is used for determining the desired slip rate, and the tire data processor is used for determining tire longitudinal force and tire longitudinal stiffness; the MPC controller is used for optimization solution to obtain braking torque of four wheels according tothe longitudinal speed and slip ratio of a current automobile, the braking torque of front wheels is directly input to the CarSim automobile model, and the braking torque of rear wheels is input to the braking torque distribution module; the CarSim automobile model is used for outputting actual motion status information of the automobile, and the actual motion status information includes the longitudinal speed and wheel speed of the automobile; the slip ratio calculation module is used for calculating the slip ratio according to the output longitudinal speed and wheel speed of the automobile;the braking torque distribution module is used for distributing the braking torque of the rear wheels, determining hydraulic braking torque and motor regenerative braking torque, and inputting to theCarSim automobile model.

Description

technical field [0001] The invention relates to an anti-lock braking control method for a rear-drive electric vehicle electromechanical compound braking under emergency braking conditions, in particular to an anti-lock braking control method for an electric vehicle based on model prediction. Background technique [0002] Electric vehicle electromechanical composite braking system includes motor regenerative braking system and hydraulic braking system. Among them, motor regenerative braking system is also called braking energy recovery system, which uses the feedback characteristics of the motor to convert the kinetic energy or potential energy of the vehicle into electrical energy for storage. In the energy storage device such as the battery, it is used for the next driving acceleration of the car, and provides braking torque to the car through the transmission system. For the wheel anti-lock control of electric vehicles under emergency braking conditions, some researchers o...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing linear MPC method cannot fully characterize the nonlinear longitudinal slip characteristics of tires, the slip ratio tracking control accuracy is low and the stability domain of the controller is narrow.

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