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EB2013-TM-011

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by

Valentin Ivanov

on 20 June 2017

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Transcript of EB2013-TM-011

EXPERIMENTAL INVESTIGATION OF
BRAKING DYNAMICS OF ELECTRIC VEHICLE
Paper EB-2013-TM-011
K. Augsburg, D. Savitski, V. Ivanov, L. Heidrich
Ilmenau University of Technology
T. Pütz
TRW Automotive
Comparative
Analysis

Conclusions
Experimental
Tools

Introduction
Brake Blending
Motivation
Sport utility vehicle
4 motors with gearboxes and half-shafts
Integration of friction brake system with electric brake system, ABS, and torque vectoring
New brake layout
Research tasks
Requirements to test platform
Replacement of traditional brake actuation system
Decoupled brake pedal
Emergency and safety functions
Regenerative mode
Assessment of
actuation dynamics
Estimation of
brake feel
Tuning of
brake blending
Experimental
definition
Hardware-in-the-loop test rig
Operation of the brake system:
(i) stand-alone and (ii) integrated with other chassis systems
Pre-defined and repeatable actuation of the brake pedal
Integration of brake hardware with software vehicle simulator
HIL
System
Brake
Robot
Virtual Test
Simulator
Test programme
Ramp actuation
Brake robot
Pedal force from 0 N to >1500 N
Pedal displacement from 0 mm to >100 mm
Pedal velocity from 0 mm/s to >1000 mm/s
Measurement accuracy of pedal force ≤ 10 N
Data rate up to 4000 Hz
Conventional & decoupled brake systems
Slip Control Boost
Cyclic actuation
Pedal velocities 20 and 200 mm/s
for maximum brake pressure
15, 40 and 80 bar
Pedal velocities 20 and 200 mm/s
for pedal travels 54.5±5 mm,
64 ± 5 mm and 80 ± 5 mm;
frequency 0.1, 0.5, 1.5,
5.0, and 10.0 Hz
Target: Brake pedal feel indicators
Proposed approach
Integrated indicator
To compare coupled and decoupled brake systems from viewpoint of driver comfort
To analyze influence of the actuation dynamics on the brake control functions
Combination of static and dynamic indicators of
brake pedal feel is required
Preload force
Dead travel and free travel
Free travel gradient
Operational travel gradient
Jump-in
Time gaps
Brake boost efficiency
Growth of hysteresis area
Weighting factors
Normalization
Brake pedal feel indicators
Static and dynamic behaviour
SCB system shows more „soft“ brake pedal feel
Faster actuation dynamics by SCB system
Regeneration control requires the system tuning with regard to transient behaviour, hysteresis losses and boosting effect
Optimal braking distribution strategy
HIL test rig + Vehicle simulator
Effect of pedal actuation dynamics
Friction braking
Blended electric and friction braking
Brake torque distribution
v_pedal=100 mm/s
v_pedal=50 mm/s
v_pedal=25 mm/s
Brake torque oscillations
Tuning of brake blending must aim at elimination of initial oscillation of brake torques
Brake blending controller should include constraints chosen from the analysis of amplitude-frequency characteristics
HIL test rig
&
Vehicle Simulator
Brake blending
functions
Evaluation of brake pedal feel
Development of integrated
vehicle dynamics control
Optimization of decoupled
brake systems
Full transcript