Constraint performance slip ratio control for vehicles with distributed electrohydraulic brake-by-wire system

Slip ratio control of current passenger vehicles is achieved by the traditional hydraulic distributed unit through its pump-valve structure, such as the antilock brake system module. This type of hardware largely limits the essential braking pressure regulating ability due to the pump's jittering backpressure and valves' poor controllability and further deteriorates the slip ratio control performance. This study proposes a novel electrohydraulic brake-by-wire system based on distributed boosters (Dbooster) as new slip ratio regulating actuators. The Dbooster's dynamics are modeled and combined with slip braking dynamics into an integrated slip ratio control scheme. Based on this, a finite-time prescribed performance control method with a finite-time disturbance observer is designed to achieve constraint slip ratio regulating performance. Validations are conducted in simulation and hardware-in-the-loop tests. Furthermore, the results show that this study provides a practical solution for more accurate slip ratio regulation.