城市电动客车再生ABS系统的建模与仿真

为使城市电动客车在冰雪路面上再生制动时车轮具有防抱死功能,提出了通过控制驱动电机的再生制动力与反接制动力的方法来防止车轮抱死.建立了城市电动客车1/4车辆动力学模型;根据电机低速再生制动电路稳态条件,基于变结构控制理论设计了低速再生ABS控制器.仿真结果表明:系统具有足够的鲁棒性;制动过程由占主体的再生制动和制动期的反接制动组成;在电机峰值工作能力内,再生ABS制动能回收量随路面附着条件的改善而增加.研究结果对城市电动客车的制动系设计具有一定的参考价值.

Modeling and Simulation of Regenerative Braking of Electric Bus in Antilock Braking System

To retain the antilock braking function of the electric bus while performing regenerative braking actions on ice-or snow-covered road, a novel method for antibraking is proposed to control regenerative braking force and reversal braking force of the driving motor. A dynamics model for the quarter electric bus is established. A low-speed regenerative ABS controller is designed based on both the circuit steady-state conditions of the low-speed regenerative electric motor and variable structure control theory. The simulation result shows that system has satisfactory robustness; The braking procedure is com-posed of a regenerative braking action, being of the main part, and an reversal braking action at the end of the braking procedure. In motor peak working capacity, regenerative ABS amount of recovering braking energy increases with the improvement of road adhesion conditions. Research results are helpful for the design of the brake system of the electric bus.