Title: Base-brake functions of electric vehicle: disturbance compensation in decoupled brake system

Authors: Dzmitry Savitski; Barys Shyrokau; Valentin Ivanov

Addresses: Automotive Engineering Group, Department of Mechanical Engineering, Ilmenau University of Technology, Ehrenbergstr. 15, 98693 Ilmenau, Germany ' Intelligent Automotive Systems, Department of Precision and Microsystems Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands ' Automotive Engineering Group, Department of Mechanical Engineering, Ilmenau University of Technology, Ehrenbergstr. 15, 98693 Ilmenau, Germany

Abstract: The paper introduces a controller realising the base-brake functions of an electric vehicle equipped with a decoupled electrohydraulic brake system and individually controlled on-board motors. The controller includes advanced procedures compensating for external disturbances such as change of brake pad/disc friction, road slope or vehicle mass variation, which can essentially influence the brake control process. The consideration of the disturbance compensation during brake torque generation allows the enhancement of both brake performance and active safety. Hardware-in-the-loop (HIL) experiments have validated the functions of the developed base-brake controller, and confirmed its sufficient performance in various operational modes.

Keywords: base-brake control; electrohydraulic brake systems; brake-by-wire; electric vehicles; disturbance compensation; vehicle state estimation; decoupled brake systems; controller design; brake pad-disc friction; road slope; vehicle mass variation; brake control; brake torque generation; vehicle safety; brake performance; active safety; hardware-in-the-loop; HIL; vehicle braking.

DOI: 10.1504/IJVD.2016.073702

International Journal of Vehicle Design, 2016 Vol.70 No.1, pp.69 - 97

Received: 01 Jun 2014
Accepted: 28 Feb 2015

Published online: 16 Dec 2015 *

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