Instantaneous optimal regenerative braking control for a permanent-magnet synchronous motor in a four-wheel-drive electric vehicle

Abstract

Recovering the kinetic energy of a vehicle is one inherent advantage of an electric vehicle. A permanent-magnet synchronous motor is widely adopted for the traction motor in an electric vehicle with the advantage of a high efficiency and a high torque density. The principle for electric braking control of the permanent-magnet synchronous motor under field-oriented control is studied. The efficiency model of the electric drive system, which is different from that of the internal-combustion engine drive system, can be exactly described by analytical equations. On this basis, the battery power can be expressed as a function of the angular velocity and the electromagnetic torque of the motor. By solving the partial differential equation for the battery power, the instantaneous optimal regenerative braking torque of the permanent-magnet synchronous motor is simply calculated according to the vehicle braking torque demand and the motor speed. Compared with the existing efficiency map method, the analytical technology is easily implemented. Then a four-wheel-drive electric vehicle is investigated to achieve optimal regenerative braking control. The dynamic behaviour of braking in the four-wheel-drive electric vehicle is also considered. The parallel braking pattern and the series braking pattern are investigated in order to evaluate the availability of braking energy recovery. The instantaneous optimal regeneration energy can be recovered for the series braking system, and a significant amount of energy can be recovered for the parallel braking system by adjusting the free travel of the brake pedal.

Keywords

Permanent-magnet synchronous motor field-oriented control efficiency model electric vehicle optimal regenerative braking series braking

Get full access to this article

View all access options for this article.

References

Gao

Chen

Ehsani

. Investigation of the effectiveness of regenerative braking for EV and HEV. SAE paper 1999-01-2910, 1999.

Ehsani

Gao

Butler

. Application of electrically peaking hybrid (ELPH) propulsion system to a full size passenger car with simulated design verification. IEEE Trans Veh Technol 1999; 48(6): 1779–1881.

Gao

Ehsani

. Electronic braking system of EV and HEV-integration of regenerative braking, automatic braking force control and ABS. SAE paper 2001-01-2478, 2001.

Wyczalk

F A

Wang

. Regenerative braking concepts for electric vehicle – a primer. SAE paper 920648, 1992.

Panagiotidis

Delagrammatikas

Assanis

. Development and use of a regenerative braking model for a parallel hybrid electric vehicle. SAE paper 2000-01-0995, 2000.

Cikanek

Bailey

. Regenerative braking system for a hybrid electric vehicle. In: 2002 American control conference, Anchorage, Alaska, USA, 8–10 May 2002, Vol 4, pp. 3129–3134. New York: IEEE.

Qin

Liu

. Regenerative braking control strategy in mild hybrid electric vehicle equipped with automatic manual transmission. Chin J Mech Engng 2006; 42(10): 156–160.

Sangtarash

Esfahanian

Nehzati

. Effect of different regenerative braking strategies on braking performance and fuel economy in a hybrid electric bus employing CRUISE vehicle simulation. SAE paper 2008-01-1561, 2008.

Nakamura

Soga

Sakai

. Development of electronically controlled brake system for hybrid vehicle. SAE paper 2002-01-0300, 2002.

10.

Kim

Rousseau

Rask

. Vehicle-level control analysis of 2010 Toyota Prius based on test data. Proc IMechE Part D: J Automobile Engineering 2012; 226(11): 1483–1494.

11.

Wallentowitz

. Automotive engineering I: longitudinal dynamics of vehicles. Beijing: China Machine Press, 2009.

12.

Urasaki

Senjyu

Uezato

. An accurate modeling for permanent magnet synchronous motor drives. In: 15th annual IEEE applied power electronics conference and exposition, New Orleans, Louisiana, USA, 6–10 February 2000, Vol 1, pp. 387–392. New York: IEEE.

13.

Morimoto

Tong

Takeda

. Loss minimization control of permanent magnet synchronous motor drives. IEEE Trans Ind Electron 1994; 41(5): 511–517.

14.

Lai

Young

McKeever

. Efficiency consideration of DC link soft-Switching inverters for motor drive applications. In: 25th annual IEEE power electronics specialists conference, Taipei, Republic of China, 20–25 June 1994, pp. 1003–1008.

15.

Lai

Young

Ott

. Efficiency modeling and evaluation of a resonant snubber based soft-switching inverter for motor drive applications. In: 26th annual IEEE power electronics specialists conference, Atlanta, Georgia, USA, 1995, Vol 2, pp. 943–949. New York: IEEE.

16.

Dong

Choi

. Efficiency considerations of load side soft-switching inverters for electric vehicle applications. In: 15th annual IEEE applied power electronics conference and exposition, New Orleans, Louisiana, USA, 6–10 February 2000, Vol 2, pp. 1049–1055. New York: IEEE.

17.

Benini

Castelli

Macci

. Discrete-time battery models for system-level low-power design. IEEE Trans Very Large Scale Integration (VLSI) Systems 2001; 9(5): 630–640.

18.

Gao

Liu

Dougal

. Dynamic lithium-ion battery model for system simulation. IEEE Trans Components Packaging Technol 2002; 25(3): 495–505.

19.

Chiang

Sean

. Online estimation of internal resistance and open-circuit voltage of lithium-ion batteries in electric vehicles. J Power Sources 2011; 196: 3921–3932.