Abstract：To improve the slip ratio control precision, a slip rate control strategy for electrohydraulic compound ABS was proposed based on Taylor series feedforward hysteresis compensation. The slip rate and the integral of slip rate were selected as control goal, and the slip rate controller of ABS was designed to obtain the optimal performance of the controlled system with increased system robustness. The hysteresis compensation of electronic hydraulic brake system was estimated by Taylor series prediction method and tracking differentiator and compensated by electromagnetic braking torque. Considering the hysteresis characteristics in different kinds of adhesion road, the simulation of electrohydraulic compound ABS slip rate control for Taylor series feedforward hysteresis compensation was conducted to compare with that of ABS slip rate control without compensation. The influence of hysteresis characteristics on braking performance and the performance of two ABS controls were analyzed. The results show that the electro-hydraulic compound ABS control based on Taylor series feedforward hysteresis compensation can effectively improve the slip ratio precision and response speed of electric vehicle ABS under different driving conditions.
苑磊， 何仁. 泰勒级数前馈迟滞补偿电液复合ABS滑移率控制[J]. 江苏大学学报（自然科学版）, 2023, 44(1): 29-36.
YUAN Lei， HE Ren. Slip rate control of electro-hydraulic compound ABS based on Taylor series feedforward hysteresis compensation[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2023, 44(1): 29-36.
ZHENG T X, FENG G Y, GONG L. Control strategies of hydraulic ABS oil pump and its influence on braking characteristics[J]. Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition), 2014,26(4):507-513.（in Chinese）
［2］
CHEN C P, CHIANG M H. Development of proportional pressure control valve for hydraulic braking actuator of automobile ABS[J]. Applied Sciences, doi： 10.3390/app8040639.
［3］
WANG J C, HE R. Varying charge voltage in the steps control method of ABS for inwheel motors driven electric vehicles based on and improved LQG scheme[J]. IEEE Access, 2018, 6：15039-15050.
［4］
ZHANG Z S, MA R H, WANG L F, et al. Novel PMSM control for antilock braking considering transmission properties of the electric vehicle[J]. IEEE Transactions on Vehicular Technology, 2018, 67(11): 10378-10386.
［5］
ANWAR S，BING Z. An antilockbraking algorithm for an eddycurrentbased brakebywire system[J].IEEE Transactions on Vehicular Technology,2007,56(3):1100-1107.
LIU X J,HE R. Sliding mode control in electromagnetichydraulic hybrid antilock braking system[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(5):1-7. (in Chinese)
［7］
SMITH D E, STARKEY J M. Effects of model complexity on the performance of automated vehicle steering controllers: model development, validation and comparison[J]. Vehicle System Dynamics, 1995, 24(2): 163-181.
［8］
ANWAR S.A parametric model of an eddy current electric machine for automotive praking applications[J].IEEE Transactions on Control Systems Technology,2004,12(3):422-427.
