Zhuo, G., Yu, F., and Ren, Y., "Study on the Braking Torque Allocation of the ABS Based on the Frequency of the Electro-Hydraulic Brake," SAE Technical Paper 2015-01-2703, 2015, doi:10.4271/2015-01-2703.
Study on the braking torque allocation of the ABS (Anti-lock Brake System) of the electro-hydraulic brake system in the distributed drive electric vehicles, using a hierarchical control structure, of which the lower controller takes a braking torque allocation strategy based on frequency, so as to achieve a good braking effect. The lower controller uses the strategies which are based on the filter principle or the weighted least squares algorithm. To the former, Butterworth filter is selected to execute the braking torque allocation. Then the ABS braking torque allocation strategy based on Butterworth filter and the weighted least squares are designed and analyzed respectively, finally their braking effects are simulated and contrasted in Simulink and AMESim.