内容：
集中驱动式电动汽车的传动机构中,半轴特性会导致车辆紧急制动时利用电机进行车轮滑移率的精确控制变得困难。针对该类纯电动汽车,建立相应动力总成模型,在频域内分析电机制动力的传递特性及其对制动效果的影响;利用扩展卡尔曼滤波器进行半轴力矩的状态估计;提出两种车辆紧急制动工况下的电机—液压制动力协调控制方法,包括以液压制动为主、电机制动为辅的液压制动力动态控制方法以及以电机制动为主、液压制动为辅的半轴力矩补偿控制方法。仿真及台架试验结果表明,所提出的半轴力矩补偿控制方法可大大降低半轴特性对电机防抱死制动控制效果的不良影响,能够充分利用电机进行车辆的紧急制动;与传统摩擦制动防抱死控制相比,提升了整车制动效果,并降低了摩擦制动系统的要求。 In the drive mechanism of the centralized drive type electric vehicle, the half shaft characteristic causes the vehicle to make precise control of the wheel slip rate by using the motor when the vehicle is in emergency braking. Aiming at the pure electric vehicle, the corresponding powertrain model is established to analyze the transmission characteristics of the motor braking force and its effect on the braking effect in the frequency domain. The state estimation of the half-shaft moment is carried out by using the extended Kalman filter. The dynamic control method of the motor-hydraulic braking force under the emergency braking condition of the vehicle includes the hydraulic brake dynamic control method, which is mainly composed of hydraulic braking and motor braking, and the main hydraulic brake is supplemented by hydraulic brake Of the axle torque compensation control method. The results of simulation and bench test show that the proposed method can greatly reduce the adverse effect of the half-shaft characteristic on the anti-lock braking control effect of the motor, and make full use of the motor to make the emergency braking of the vehicle. Brake anti-lock control compared to enhance the vehicle braking effect, and reduce the friction brake system requirements.

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