Anti-lock braking control strategies have the aim of avoiding the wheel locking condition, in order to reduce the stopping distance and preserve the handling of the vehicle during the braking manoeuvres. Furthermore, the spreading of electric vehicles offers the possibility of adopting new powertrain layouts. Among those, the most interesting is represented by vehicles with independently driven wheels, i.e., one motor per wheel. This paper proposes a braking control logic particularly intended for independently driven electric wheel, in which the electric motor brakes the wheel and handled the wheel dynamics to avoid locking in braking. The control strategy is based on the estimation of the longitudinal force exchanged between the tyre and the road made possible by the motor torque estimation. The knowledge of the braking force allows to improve the braking performance with respect to conventional acceleration based strategies. The effectiveness of this strategy has been verified both in numerical simulation with a full car vehicle model and in a dedicated test-bench that reproduces the quarter car longitudinal dynamics.

Design and testing of a braking control logic for independently driven electric wheels

Vignati M.;Sabbioni E.;Tarsitano D.
2021-01-01

Abstract

Anti-lock braking control strategies have the aim of avoiding the wheel locking condition, in order to reduce the stopping distance and preserve the handling of the vehicle during the braking manoeuvres. Furthermore, the spreading of electric vehicles offers the possibility of adopting new powertrain layouts. Among those, the most interesting is represented by vehicles with independently driven wheels, i.e., one motor per wheel. This paper proposes a braking control logic particularly intended for independently driven electric wheel, in which the electric motor brakes the wheel and handled the wheel dynamics to avoid locking in braking. The control strategy is based on the estimation of the longitudinal force exchanged between the tyre and the road made possible by the motor torque estimation. The knowledge of the braking force allows to improve the braking performance with respect to conventional acceleration based strategies. The effectiveness of this strategy has been verified both in numerical simulation with a full car vehicle model and in a dedicated test-bench that reproduces the quarter car longitudinal dynamics.
ABS
Active braking
Anti-slip control
Braking performance
Electric braking
Electric motors
Electric vehicles
Force-based braking algorithm
Independent wheel drive vehicle
Vehicle control
Vehicle dynamics
File in questo prodotto:
File Dimensione Formato  
IJVSMT 15(2-3) Paper 1.pdf

Accesso riservato

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 2.34 MB
Formato Adobe PDF
2.34 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1200816
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact