Hybrid ABS with Electric Motor and Friction Brakes

Abstract

A new control method for the Anti-lock Braking System (ABS) of Electric and Hybrid Vehicles, propelled by in-wheel motors, is presented. In these types of propulsion systems, the braking torque applied to each wheel can be produced by two complementary actuators: friction brakes and in-wheel motors. Motivated by this braking redundancy, a (braking) torque allocation strategy was designed, taking into account the dynamics, energy efficiency and operation limits of each actuator. In addition, the wheel slip regulation is addressed by a robust controller, based on the sliding mode framework with conditional integrator. Simulation results, obtained with the CarSim simulator, demonstrate the effectiveness of the proposed method.