中文摘要：

针对传统纯液压防抱死制动系统（Anti-lock braking system,简称ABS）振动噪声较大和在低附着路面上易引发车轮抱死等问题,鉴于电机制动与液压制动在特性上互补,从充分运用电机制动提升电动轮汽车ABS性能出发,提出一种用于电动轮汽车的新型电液复合ABS系统。由于电液复合ABS是一个＂由两控制变量去实现同一控制目标的系统,是一个存在控制冗余且时变耦合的系统＂,为此,首先提出了电液复合ABS控制方法的设计原则及其新的系统结构;然后分析电液两制动的各自调节方式及其组合,并对防抱制动全过程从电液调节组合调控滑移率性能方面进行研究,找到最佳的制动调节组合构成防抱制动全过程;最后利用ADAMS软件和MATLAB软件分别建立电动轮汽车的整车机械动力学模型和整车控制模型,通过联合仿真验证控制方法的效果。结果表明：该控制方法能够更加精确的调控车轮滑移率,使其长时间处于最佳滑移率附近,制动距离降低11%以上,有效提升了ABS的性能,证明所提出的电动轮汽车电液复合ABS的系统结构和控制方法合理高效,可应用于对开路面或对接路面上对电液复合ABS整车控制方法进行理论研究、仿真试验以及实用化探索。

英文摘要：

Because hydraulic antilock braking system （ ABS） might generate noise and vibration and easily causes wheels to be locked on the snow-covered road, and e-motor braking system has good complementarity with the hydraulic braking system, a new electronic-hydraulic hybrid ABS system for electric-wheel vehicle is designed by using the e-motor braking system to improve the perform-ance of ABS. The electronic-hydraulic hybrid ABS is a system that two control variables with differ-ent features function together to obtain the same control target, and it is a redundant, coupled and time-variant control system, and also a system that must be dynamically coordinated control on motor brake and hydraulic brake. For this purpose, this paper firstly brings forward the design principle of the electronic-hydraulic hybrid ABS control methods and the new system structure;Secondly analyze the adjustment and combination between electronic braking and hydraulic braking, research the anti-braking process from the aspect of electronic-hydraulic combination to control the performance of slip rate, find the best braking adjustment combination that constitutes the anti-braking process. Finally, via ADAMS and MATLAB software, the automotive mechanical dynamic and control models are con-structed respectively and are co-simulated to test validity of control method. Research results show that this control method can more accurately control the wheel slip rate, make it near the optimal slip rate for a long time, reduce braking distance more than 11%, and improve the performance of ABS effectively. Electronic-hydraulic ABS system structure and control method developed in this paper are proved to be reasonable and efficient and can be applied to the theoretical research, simulation test and practical exploration of electronic-hydraulic compound ABS in split and opposite roads.