为使无刷直流电机电动汽车在冰雪等低附着路面上进行纯再生制动时,驱动轮仍具有防抱死功能,采用了双闭环控制策略.文中首先阐述了双管调制下的无刷直流电机再生制动机理；提出了通过控制PWM占空比来防止驱动轮抱死的方案；接着建立了单轮车辆动力学模型；设计了再生ABS双闭环控制器,外环采用滑模控制来调节车轮滑移率,内环通过电流滞环控制来改变电机电枢电流.最后,建立了再生ABS的SIMULINK仿真模型,并进行仿真.结果表明,系统具有良好的实时性、稳定性和鲁棒性；而再生ABS回收的制动能量随路面附着系数的增大而增加.%To retain the antilock braking function of an electric vehicle driven by brushless direct current motor (BLDCM ) in pure regenerative braking on low-adhesion road, a double closed-loop control strategy is adopted in this paper. Firstly the regenerative braking mechanism of BLDCM with double switching modulation is expounded and a novel scheme is proposed to achieve antilock-braking by controlling the duty cycle of PWM. Then a single wheel vehicle dynamics model is developed and a double-closed-loop controller is designed, in which the sliding-mode control is used to adjust the slip ratio of wheel in outer loop and the armature current of motor is changed with hysteresis current control in inner loop. Finally a simulation model for regenerative ABS is built with SIMULINK and a simulation is conducted. The results show that the system created has good realtimeness, stability and robustness, and the amount of braking energy recovered in regenerative ABS increases with the rise in road adhesive coefficient.
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