四轮轮毂电动汽车的紧急制动能效性转矩优化

提出了一种新的基于预测控制的转矩优化控制方法，以协调控制紧急制动工况下的四轮轮毂电动汽车复合制动(液压制动和再生制动)系统.其转矩优化控制器可快速地跟踪车辆在不同路面附着条件下的最佳滑移率稳定区域；同时，在控制目标函数中加入能量回收趋势优化项，用于能量回收目标的快速动态调整，通过调节优化目标函数权值的大小，实现制动安全的同时提高车辆的能量回收能力.在Carsim中建立了车辆模型并和Simulink运行环境进行了联合仿真，验证了提出的转矩优化方法的有效性.

Energy-Efficient Torque Optimization of Emergency Braking in Four-Wheel Hub Electric Vehicles

A new torque optimization control method based on predictive control for emergency braking of a four-wheel hub electric vehicle compound braking(hydraulic braking and regenerative braking)system is proposed. The torque optimization controller can quickly track and respond to the optimal slip ratio stable area of the vehicle under different pavement friction conditions. At the same time， an energy recovery trend optimization item is added into the control objective function so as to adjust the vehicle’s energy recovery target quickly and dynamically. By adjusting and optimizing the weight of the objective function， braking safety is achieved and the energy recovery capability of the vehicle is improved as well. A vehicle model was established in Carsim， and a joint simulation platform was built with Simulink. The results show the superiority of the proposed torque optimization method.