Electrical engineering

Physics

Engineering

Torque

Vector control

Artificial intelligence

Dynamic braking

Voltage

Automotive engineering

Engine braking

Electronic brakeforce distribution

Control (management)

Backlash

Brake

Braking system

Retarder

Computer science

Control theory (sociology)

Anti-lock braking system

Threshold braking

Mechanical engineering

Vehicle dynamics

Induction motor

Thermodynamics

IEEE Transactions on Vehicular Technology

The driving motor of the electric vehicle (EV) can recover the kinetic energy during normal braking maneuvers by a regenerative function. At the same time, its dynamic torque response proves to be accurate and fast for an emergency braking, namely an anti-lock braking, with the coordinated control of the frictional braking system. However, vehicle transmission properties will deteriorate the control performance of the motor, especially in the anti-lock braking process. A novel permanent magnet synchronous motor (PMSM) control method is proposed considering the transmission influence on this high-dynamic braking process of the pure EV. First, the EV's dynamic model, which includes the PMSM field-oriented control model, the transmission dynamic model, and the hydraulic braking system, is built, and the influences of transmission elasticity and backlash non-linearity on the motor-braking torque are analyzed. Then, based on the wheel slip ratio target of the anti-lock braking, the novel mode-switching method for the motor-torque control between the backlash sliding-mode compensation and the elasticity double-closed-loop PID compensation is put forward. Two state-of-the-art anti-lock braking algorithms, which simplify the transmission properties, the slip ratio phase-plane theory, and the sliding-mode control, are compared with the proposed method. Simulation and test-bench experiment results show that, on different test-road surfaces, the mode-switching PMSM control can effectively compensate for transmission effects and significantly improve the EV's anti-lock braking comfort, stability, and maneuverability with fast and accurate motor-torque regulating.

Novel PMSM Control for Anti-Lock Braking Considering Transmission Properties of the Electric Vehicle