Fault Compensation Control for Regenerative Braking of Distributed Drive Electric Vehicle Based on Hierarchical Control 2023-01-7061

For distributed drive electric vehicles (DDEV) equipped with an electronic hydraulic braking system (EHB) and four-wheel hub motors, when one or more hub motors have regenerative braking failure, because the braking torque of the four wheels is inconsistent, additional yaw moment will be formed on the vehicle, resulting in the loss of directional stability of the vehicle during braking. If it occurs at high speeds, it will further threaten driving safety. To solve the above problems, a new hierarchical control architecture is established in this paper. Firstly, taking DDEV as the research object, the vehicle dynamics model and EHB braking system model are built. Then, a state observer based on an adaptive Kalman filter is designed in the upper layer to estimate the vehicle’s sideslip angle and yaw rate in real time. In the judgment decision-making layer, the phase plane is used to divide the stability domain boundary of the vehicle, and the quasi-stability tolerance band judges the vehicle’s driving state. Secondly, the lower stability controller is constructed based on the sliding mode control theory. EHB can flexibly distribute hydraulic braking force to compensate for the vehicle’s braking force, offset the additional yaw moment, and maintain the straight line of the vehicle. Finally, experimental verification is carried out in Matlab/ CarSim and hardware-in-the-loop (HIL) platforms. The results show that the proposed method can effectively predict the state and closed-loop stability control of DDEV, and reduce the deviation distance caused by regenerative braking failure, effectively ensuring the vehicle in the event of regenerative braking failure driving safety.