Regenerative braking torque compensation control based on improved ADRC

作者：Zhao, Linfeng; Wang, Ning; Xia, Guang; Mei, Xueqing^*; Wang, Huiran; Zhang, Dingzhi

来源：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2023.

DOI：10.1177/09544070231165823

• Braking torque compensation
• Improved Active Disturbances Rejection Control (IADRC)
• brake-by-wire
• electro-hydraulic brake system
• distributed drive electric vehicle

Electro-hydraulic braking (EHB) compensation is an effective method to solve the insufficient regenerative braking of electric vehicles, but the accuracy and speed of executive pressure response are still insufficient. In order to solve this problem, a brake pressure compensation control method based on EHB system is proposed and verified. Firstly, adaptive LuGre friction model and braking dead time compensation are introduced to obtain a more accurate friction model. Then, an electro-hydraulic braking control strategy based on Improved Active Disturbance Rejection Control (IADRC) is proposed. Finally, the effectiveness of the proposed method is verified by simulation experiments and hardware-in-the-loop (HIL) simulation experiments. The test results show that the proposed control method can achieve accurate control of brake pressure compensation in time. The research results promote the research and application of EHB system to a certain extent.