Antilock braking control system for electric vehicles

In recent years, brushless DC motors (BLDCMs) have replaced brushed DC motors in the design of electric scooters (ESs). This study proposes a new antilock braking system (ABS) based on a slip ratio estimator for ES utilising the braking force generated by the BLDCM when electrical energy is released to the virtual load, yielding an effect analogous to the ABS control in gas-powered vehicles. Compared with mechanical ABS, the proposed design possesses the advantage of rapid torque responses because no mechanical parts needed. Current control design is used to adjust the braking torque, and the sliding-mode control strategy is adopted to regulate the slip ratio to attain the optimal road adhesion during emergency braking. A variety of experiments are conducted for functional and performance verification.