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A New Braking Force Distribution Strategy
A New Braking Force Distribution Strategy
A New Braking Force Distribution Strategy
A new braking force distribution strategy for electric vehicle based on
regenerative braking strength continuity
LIAN Yufeng(廉宇峰) 1, 2 , TIAN Yantao(田彦涛) 1, 3 , HU Leilei(胡蕾蕾) 1 , YIN Cheng(尹诚) 4
1. College of Communication Engineering, Jilin University, Changchun 130025, China;
2. School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China;
3. Key Laboratory of Bionics Engineering of Ministry of Education(Jilin University), Changchun 130025, China;
4. Qiming Information Technology Co., Ltd, Changchun 130122, China
© Central South University Press and SpringerVerlag Berlin Heidelberg 2013
Abstract: Regenerative braking was the process of converting the kinetic energy and potential energy, which were stored in the
vehicle body when vehicle braked or went downhill, into electrical energy and storing it into battery. The problem on how to
distribute braking forces of front wheel and rear wheel for electric vehicles with fourwheel drive was more complex than that for
electric vehicles with frontwheel drive or rearwheel drive. In this work, the frictional braking forces distribution curve of front
wheel and rear wheel is determined by optimizing the braking force distribution curve of hydraulic proportionaladjustable valve, and
then the safety brake range is obtained correspondingly. A new braking force distribution strategy based on regenerative braking
strength continuity is proposed to solve the braking force distribution problem for electric vehicles with fourwheel drive. Highway
fuel economy test (HWFET) driving condition is used to provide the speed signals, the braking force equations of front wheel and
rear wheel are expressed with linear equations. The feasibility, effectiveness, and practicality of the new braking force distribution
strategy based on regenerative braking strength continuity are verified by regenerative braking strength simulation curve and braking
force distribution simulation curves of front wheel and rear wheel. The proposed strategy is simple in structure, easy to be
implemented and worthy being spread.
Key words: braking force distribution; regenerative braking; electric vehicle; fourwheel drive; regenerative braking strength
continuity
and frictional braking force, for EVs and HEVs, such as
1 Introduction fixed coefficient distribution method with low energy
recovery and large brake switch fluctuations, optimal
With the development of automobile industry, some energy recovery distribution method with poor braking
problems, such as the increasingly deteriorating air and effectiveness, and distribution method based on ideal
scarce petroleum exacerbated by the traditional internal braking force distribution curve I with complex structure
combustion engines, are being paid more and more great [7−10]. A braking force distribution strategy based on
attention to. Almost half of the energy is dissipated in the ABS is proposed to prevent from being locked rear
braking process for the traditional internal combustion wheel using slide control, for approximating ideal
engines [1]. By contrast, electric vehicle (EV) and hybrid braking force distribution curve [10]. The distribution
electric vehicle (HEV) technologies show great ratios of front wheel and rear wheel, which describe the
potentials in environmental problems and energy amount of load movement during braking, are used to
problems. An EV is characterized by converting vehicle obtain the braking forces of front wheel and rear wheel
kinetic energy and potential energy into electric energy based on the EV drive system with independently driven
through regenerative braking (RB) [2]. Therefore, front wheel and rear wheel [11]. It is worthwhile to note
recovering braking energy, which is an effective that the distribution relationships between frictional
approach for improving the energy efficiency of EVs and braking force and regenerative braking force is not
HEVs, is investigated endlessly [3−6]. involved in detail for this method. A control strategy
According to the ECE braking regulation, many based on the maximum braking recovering is proposed
approaches are proposed to solve an important problem, for HEV [12]. A new series regenerative control strategy
which is how to distribute the regenerative braking force based on hybridpower is proposed by combining the
When a vehicle is braked on a flat road, the forces Substituting Eqs. (3) and (4) into Eqs. (6) and (7),
J. Cent. South Univ. (2013) 20: 3481−3489 3483
respectively, and combining with Eq. (5), the relationship stability of vehicle to meet the ECE braking regulation
between braking force of front wheel and braking force [3, 20], it is necessary to maintain a certain braking force
of rear wheel is of rear wheel when front wheels are locked. For various
4 hg L
vehicles, when braking strength is between 0.2 and 0.8,
1 G Gb
Fxb 2 = [ b 2 + Fxb1 - ( + 2 F xb 1 )] (8) the relationship between braking strength and adhesion
2 hg G hg
coefficient is expressed as
When the braking force is distributed according to z ³ 0.1+0.85(j - 0.2) (10)
the ideal curve, the total braking force of front wheel and
rear wheel could be in the light of Eq. (8). Equation (8) is Substituting Eq. (3) into Eq. (6), and combining
named I curve for short, which shows the braking force with Eq. (10), Eq. (11) could be yielded, and then
distribution relationship between front wheel and rear combining with Eq. (12), Eq. (13) could be yielded.
wheel when the front wheel and rear wheel are locked Therefore, the relationship between minimum rear wheel
simultaneously with various adhesion coefficient φ [19]. braking force and front wheel braking force is expressed
I curve is parabolic labeled by I curve in Fig. 2. with Eq. (13) which is called M curve labeled in Fig. 2.
z +0.07 G (b +zh g )
F xb 1 = × (11)
0.85 L
Fxb 2 = Gz - Fxb 1 (12)
2.3 Minimum rear wheel braking force with locked where Fμ1 is the frictional braking force of front wheel
front wheel and Fμ2 is the frictional braking force of rear wheel. Fμ is
In order to guarantee the braking distance and the total frictional braking force of front wheel and rear
3484 J. Cent. South Univ. (2013) 20: 3481−3489
wheel, Fm = Fm1 + Fm 2 , β is braking force distribution where S1 is the area surrounded with I curve and xaxis;
coefficient [8]. Therefore, the relationship between Fμ1 S2 is the area surrounded with OA and xaxis; S3 is the
and Fμ2 is yielded with Eq. (15), named β curve, which is area surrounded with AB and xaxis [21]. While the
on behalf of braking forces distribution of front wheel objective function J takes minimum valve, the braking
and rear wheel in practice. β curve which is straight line force distribution curve of hydraulic proportional
OB is shown in Fig. 3 and the synchronous adhesion adjustable valve could approximate I curve.
coefficient is defined as the point of intersection between
1 x B G 4 hg L Gb
β curve and I curve, namely j0 = j ( B ) . S1 = ò [ b 2 + x -( + 2 x )]d x (19)
2 0 hg G hg
1 - b
Fm 2 = Fm 1 (15) y A
b x
S 2 = ò 0 A xd x (20)
x A
x y B - y A
S3 = ò x B [ ( x - xB ) + y B ] d x (21)
A xB - x A
Substituting Eqs. (19), (20) and (21) into Eq. (18),
¶J
and then = 0 , A(xA, yA) could be calculated as
¶ x A
follows:
ì G Lx B 2
ï x A = [( ) - b 2 ]
ï 4 hg L xB + y B
í (22)
ï 1 G 4 hg L Gb
ï yA = [ b 2 + xA - ( + 2 x A )]
ïî 2 hg G hg
Fig. 3 β curve and hydraulic proportionaladjustable valve
Therefore, lines OA and AB with A(xA, yA) are the
optimization curve
braking force distribution optimization curves of
hydraulic proportionaladjustable valve which
As seen in Fig. 3, there is a large deviation between
approximate I curve.
β curve and I curve, resulting in the low adhesion
coefficient. Therefore, the braking force distribution
3.2 Braking force distribution strategy
curve of hydraulic proportionaladjustable valve is
Besides A(xA, yA) and B(xB, yB), another key points,
selected to approximate I curve instead of β curve, such
such as C(xC, yC), D(xD, yD) and F(xF, yF), could also be
as OA and AB. In order to approximate I curve more and
calculated by Eqs. (9) and (13). z(A), z(B), z(C), z(D) and
more to improve the utilization efficiency of
z(F), which are the braking strengthes for A(xA, yA),
synchronous adhesion coefficient, it is indispensable to
B(xB, yB), C(xC, yC), D(xD, yD), F(xF, yF), could be
optimize the braking force distribution curve of hydraulic
obtained correspondingly. In order to study braking force
proportionaladjustable valve.
distribution strategy on the basis of different braking
Let synchronous adhesion coefficient φ0=0.7
strength, it is indispensable to be aware of the equations
(z(B)=0.7), which is a typical value, then B(xB, yB) could
of OA, AB, BCD, DF, and FO shown in Fig. 3.
be determined. A(xA, yA) is default, which is the key point
where the proportion could be adjusted. As seen in Fig. 3, OA : Fm 2 = kOA Fm1 (23)
the equations of OA and AB are expressed as y A
where k OA = ; Fμ1 is the frictional braking force of
y A x A
y= x, x £ x A (16)
x A front wheel; Fμ2 is the frictional braking force of rear
wheel.
y B - y A
y= ( x - xB ) + yB , x > x A (17) AB : Fm 2 = k AB Fm1 + bAB (24)
xB - x A
Fig. 8 Braking force distribution trend diagram of rear wheel
Fig. 5 Trend diagram of speed and time in HWFET
As seen in Table 3, braking forces are all the
functions of braking strength, and they are all linear
equations in the proposed braking force distribution.
Besides that, braking strength is proportional to
Fig. 6 Trend diagram of braking strength and time acceleration according to the definition of braking
3488 J. Cent. South Univ. (2013) 20: 3481−3489
strength, and then the signals of braking strength are braking force into the frictional braking force of front
obtained by acceleration sensors which are installed at wheel, the regenerative braking force of front wheel, the
the center of gravity of vehicle body. From Figs. 7−9, the frictional braking force of rear wheel, and the
feasibility of braking force distribution strategy based on regenerative braking force of rear wheel, for EVs with
regenerative braking strength continuity is certificated fourwheel drive, but also it is applicable for various EVs
distinctly for EVs with fourwheel drive. Therefore, this installed hydraulic proportionaladjustable valve widely.
strategy is simple in structure and easy to be Therefore, they are of significance in both theoretical
implemented; it is applicable for various EVs with research and practical applications.
fourwheel drive installed hydraulic proportional 3) Through simulations, the feasibility, the
adjustable valve. effectiveness, and the practicality of the new braking
force distribution strategy based on regenerative braking
Table 3 Braking forces expressions under various braking
strength continuity are verified. The proposed braking
strength
force distribution strategy has the merits of simple
Braking force vector Equations structure and inexpensive computation.
é 0 ù 4) In addition, a new braking force distribution
ê7 579 . 4 z ú
F1 strategy based on regenerative braking strength
F 1 = ê ú
(0.000 0≤z≤0.100 0) ê 0 ú continuity is implemented without taking into account
ê ú
ë3 778 . 8 z û the factors aforementioned in this work, which have an
é- 9 300 . 9 z - 0 . 990 7 ù effect on the recovering of regenerative braking energy
ê99 406 . 3 z ú and the braking effectiveness. They are left for future
F2
F 2 = ê ú
(0.100 0<z≤0.527 8) ê- 4 637 . 1 z - 0 . 493 9 ú studies and improvement.
ê ú
ë489 . 372 8 z + 146 . 249 3 û
é- 9776 . 6 z - 1 . 000 ù References
ê9776 . 3 z ú
F3
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