Analysis of Combined Braking Torque on The Regenerative Anti-Lock Braking System in The Quarter Electric Vehicle Model

Abstract

The regenerative ABS is developed to avoid slip and to regenerate energy using two types of braking: friction and motor. This paper discusses the experimental results of combining the two types of braking which are applied to a quarter-electric vehicle model. The control algorithm is developed using sliding mode control (SMC), where continuous action is performed to produce motor braking torque while discrete action is performed to produce hydraulic braking torque (friction). Furthermore, the proposed control system also implements control coordination to distribute braking torque, enhances the occurrence of the non-slip process, and generates energy for vehicle batteries. From the experimental results, it is concluded that the slip ratio value can be used to obtain the optimum conditions for the braking process, where the hydraulic torque as the cause of the slip, is limited through the braking distribution algorithm. The proposed control system produces a response with a brake speed of 2 m/s and a 3.39% increase in battery SOC.

Keywords

• anti-lock braking system
• control coordination
• regenerative
• sliding mode control