ADRC based study on the Anti-braking system of electric vehicles with regenerative braking

The control method for the Anti- lock braking system (ABS) with Regenerative Braking of Electric Vehicles was studied. A quarter dynamic model of vehicle for braking and Regenerative Braking model of motor in-wheel were given firstly, then braking torque produced by motor was thought as inner disturbance, ABS controller was developed based on Active Disturbance Rejection Control technique (ADRC) with the aim at anticipant slippage and with Regenerative Braking function. Simulations were made at last. Simulation results indicated that the system was robust under outer disturbance and inner parameters changed. It can regulate the slip rate at expired value at all conditions, at same time ,it can restore the kinetic energy of vehicle to electrical source.