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Mathematical Problems in Engineering
Volume 2013, Article ID 890427, 9 pages
Research Article

Cooperative Control of Regenerative Braking and Antilock Braking for a Hybrid Electric Vehicle

1School of Mechanical Engineering, Southeast University, Nanjing 211189, China
2State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China

Received 10 August 2013; Revised 16 October 2013; Accepted 24 October 2013

Academic Editor: Rongni Yang

Copyright © 2013 Guodong Yin and XianJian Jin. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new cooperative braking control strategy (CBCS) is proposed for a parallel hybrid electric vehicle (HEV) with both a regenerative braking system and an antilock braking system (ABS) to achieve improved braking performance and energy regeneration. The braking system of the vehicle is based on a new method of HEV braking torque distribution that makes the antilock braking system work together with the regenerative braking system harmoniously. In the cooperative braking control strategy, a sliding mode controller (SMC) for ABS is designed to maintain the wheel slip within an optimal range by adjusting the hydraulic braking torque continuously; to reduce the chattering in SMC, a boundary-layer method with moderate tuning of a saturation function is also investigated; based on the wheel slip ratio, battery state of charge (SOC), and the motor speed, a fuzzy logic control strategy (FLC) is applied to adjust the regenerative braking torque dynamically. In order to evaluate the performance of the cooperative braking control strategy, the braking system model of a hybrid electric vehicle is built in MATLAB/SIMULINK. It is found from the simulation that the cooperative braking control strategy suggested in this paper provides satisfactory braking performance, passenger comfort, and high regenerative efficiency.