Methoden und Anwendungen der Regelungstechnik Steuerungs- und Regelungstechnik. Shaker-Verlag.
This article compares the performance of three predictive braking control algorithms for electric vehicles with hybrid braking actuators, composed of friction brakes and electric motors. First, a cascaded controller consisting of a scheduling wheel slip controller and a subordinate model predictive control allocation is presented. Second, a model predictive control method is developed to centralize the cascaded controller to a single-loop controller. Third, a robust model predictive control method is applied, which additionally handles plant disturbances relying on the constraint tightening approach. It is shown that the single-loop controller can improve the tracking performance compared to the cascaded controller under nominal and disturbed (mu-step) braking scenarios at the limit of tire adhesion.
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