电动汽车复合制动防抱死系统研究
Study on Hybrid Anti-lock Braking System in Electric Vehicle

为实现电动汽车制动防抱死控制，设计了电动汽车复合制动防抱死系统。首先建立了液压与电机制动防抱死模型；然后根据路面附着系数大小设计出复合制动防抱死控制模式；最后基于模糊PID控制设计了复合制动防抱死系统。在MATLAB/Simulink环境下同时建立复合制动与液压制动防抱死仿真模型，进行对比分析，结果表明：在不同附着系数路面，复合制动均能够有效控制滑移率，缩短制动时间和距离，回收制动能量；在对接路面，复合制动的控制效果更加理想，系统反应迅速、鲁棒性好。
In order to achieve anti-lock control of electric vehicle, a hybrid anti-lock braking system in electric vehicle is presented. Firstly, the models for hydraulic and motor anti-lock braking are established; secondly the hybrid anti-lock braking control mode is designed, according to the size of tire-road adhesion coefficient; finally, the hybrid anti-lock braking system is designed, based on the fuzzy-PID control. The simulation models for hybrid and hydraulic anti-lock braking are built simultaneously in MATLAB/Simulink in order to make comparative analysis, and the result shows that:on the different adhesion coefficient road, the hybrid braking can effectively control the slip ratio, shorten the braking time and distance, and recover the braking energy; on the joint-adhesion road, the hybrid braking can achieve an ideal control effect, and the system has rapid response and good robustness