Hierarchical control research for composite braking system of an electric vehicle

This paper proposed a hierarchical control strategy in general braking scenario for an electric vehicle with composite braking system and separated driven axles. The hierarchical controller had two layers. The top layer was designed to optimize the braking stability based on inter-axle sliding mode control strategy for the ideal braking force distribution. The lower layer was used to maximize the energy regenerative efficiency with a maximum recharging torque strategy. Simulation results showed that the proposed hierarchical control strategy performed both high braking stability and energy regenerative efficiency for different typical road surfaces and load cases.