Rajendran, Sulakshan;
(2021)
Adaptive Control Strategies for Cooperative Regenerative Braking of an Electric Vehicle.
Doctoral thesis (Ph.D), UCL (University College London).
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Abstract
Electric Vehicles (EVs) with multiple drivetrains with Individual Wheel Motors (IWMs) have improved vehicle handling qualities with torque vectoring capabilities compared to a conventional EV with a single central motor and transmission. As a consequence, they have received increased attention from automotive industries. However, due to the limited torque range of electric motors (EMs) and safety concerns, EMs cooperate with conventional friction braking systems. The goal of a cooperative regenerative braking system is to achieve high braking efficiency as well as high energy efficiency. An adaptive cooperative braking control strategy is presented for a unique rear-wheel driven EV with a novel brake-circuit configuration. The strategy has three major components in a cascaded structure. An integrated control scheme, an estimation scheme and a torque distribution scheme. The integrated control scheme combines an adaptive self-tuning super-twisting time-varying sliding mode control-based ABS controller and a steering controller to achieve high braking efficiency without losing stability during emergency braking on it-split road condition. Its effectiveness to track the optimal slip trajectory, maximizing the tyre-road frictional force in the presence of uncertainties and disturbances is demonstrated. Sliding Mode based estimation schemes are designed to estimate unmeasurable variables which are important to implement the integrated control scheme. Finally, a hybrid torque distribution scheme is presented to achieve high energy efficiency by distributing the demanded brake torque between front friction braking and rear pure electric braking channels. The performance of the proposed schemes is demonstrated via experiments and simulation tests. The simulation tests are carried out with a 15th order high fidelity model whose performance has been correlated with the experimental vehicle. Various braking cases: straight line braking, cornering and it-split cases are investigated. Moreover, the energy recuperation efficiency is assessed for standard driving cycles.
| Type: | Thesis (Doctoral) |
|---|---|
| Qualification: | Ph.D |
| Title: | Adaptive Control Strategies for Cooperative Regenerative Braking of an Electric Vehicle |
| Event: | UCL (University College London) |
| Open access status: | An open access version is available from UCL Discovery |
| Language: | English |
| Additional information: | Copyright © The Author 2021. Original content in this thesis is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) Licence (https://creativecommons.org/licenses/by-nc/4.0/). Any third-party copyright material present remains the property of its respective owner(s) and is licensed under its existing terms. Access may initially be restricted at the author’s request. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10137538 |
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