A nonlinear explicit Model Predictive Controller for an Electro-hydraulic braking system of an Electric vehicle driven by a four-wheel Hub

Nowadays, braking energy recovery technology has been widely integrated into new energy-electric vehicle electromechanical systems, which can extend the mileage of vehicles. However, coordinating electric braking and hydraulic braking to ensure an optimum balance between braking safety and energy recovery is a relevant problem to be worked out. This study proposes a coordinated control strategy for the electrohydraulic braking system. First, an optimization distribution strategy of braking force is elaborated. Then, ca coordinated control strategy based on the explicit nonlinear model predictive controller(eNMPC) is designed to correct the braking torque aiming at guaranteeing stability and the energy regenerating efficiency simultaneously. Lastly, the analysis results manifest that the proposed strategy can increase the braking energy recovery efficiency by nearly 4.02% compared with the traditional strategies, highlighting its anticipated preferable performance.