Research on control of electromechanical composite anti-lock braking system of four-wheel hub electric vehicle based on improved integral sliding mode

To harness the advantages of fast response speed and independent controllability of friction braking in electric motor braking and electro-mechanical braking systems for four-wheel hub electric vehicles, and to enhance vehicle braking stability during emergency braking, this study proposes an electromechanical composite braking ABS control strategy based on an improved integral sliding mode. The strategy employs a layered control approach: the upper layer focuses on wheel slip rate control using the improved integral sliding mode, while the lower layer manages the coordinated distribution of electromechanical force and friction braking of the electro-mechanical braking system. Using the Carsim/Simulink simulation platform, the proposed control strategy was simulated and verified under three different road conditions. The results indicate that, compared to conventional integral sliding mode control and active disturbance rejection control (ADRC), the designed control strategy is highly effective across various emergency braking scenarios. It demonstrates strong adaptability to different road conditions, rapid response, excellent anti-saturation performance, low overshoot error, and stable, cooperative operation of motor regenerative braking and friction braking in the electro-mechanical system.