Control of regenerative braking systems for four-wheel-independently-actuated electric vehicles

摘要

Control of regenerative braking systems is considered in this paper. Firstly a modular observer is proposed to estimate the vehicle longitudinal velocity, and input-to-state stability theory is utilized to prove that the estimation error converges to zero. Then based on the estimated velocity, a feedback hierarchical controller is proposed to track a desired velocity and distribute the braking torques to the four wheels to improve energy recovery. Simulation results show the effectiveness of the proposed modular observer and hierarchical controller. (C) 2017 Elsevier Ltd. All rights reserved.