Ivanov, V., Shyrokau, B., Savitski, D., Orus, J. et al., "Design and Testing of ABS for Electric Vehicles with Individually Controlled On-Board Motor Drives," SAE Int. J. Passeng. Cars - Mech. Syst. 7(2):902-913, 2014, doi:10.4271/2014-01-9128.
The paper introduces the results of the development of anti-lock brake system (ABS) for full electric vehicle with individually controlled near-wheel motors. The braking functions in the target vehicle are realized with electro-hydraulic decoupled friction brake system and electric motors operating in a braking mode.The proposed ABS controller is based on the direct slip and velocity control and includes several main blocks for computing of predictive (feedforward) and reactive (feedback) brake torque, wheel slip observer, slip target adaptation, and the algorithm of brake blending between friction brakes and electric motors.The functionality of developed ABS has been investigated on the HIL test rig for straight-line braking manoeuvres on different surfaces with variation of initial velocity. The obtained experimental results have been compared with the operation of baseline algorithm of a hydraulic ABS and have demonstrated a marked effect in braking performance.