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Slip-based regenerative ABS control for in-wheel-motor drive EV

Research on regenerative brake systems on electric vehicles (EVs) has progressed considerably, but anti-slip functions have not been practical due to the difficulty in coordinating with conventional hydraulic brake systems. This paper takes advantage of the features of driving electric motors to derive an allowable torque according to the expected relation between the vehicle and wheel acceleration. Then, an innovative saturation control in a regenerative antilock braking system (ABS), which adopts logic threshold control, is presented. The control system realizes lock prevention on a wheel by constraining the motor reference torque directly with the derived allowable value. By theoretical analyses and simulation studies, including a comparison with conventional ABS control, the resulting control design is shown to be effective in anti-slip performance.