Skid control of small electric vehicle (Effect of the regenerative braking force to the hysteresis of friction brake force)

This paper proposed a new simulation model of skid control for a small electric vehicle that uses a hydraulic-mechanical hybrid brake system. In this research, we combined a hydraulic-mechanical hybrid brake system with an anti-lock braking system (ABS) and regenerative brake control. Before we can determine the ABS and regenerative brake control method, we must investigate the effect of the hysteresis on the control of the braking pressure and regenerative braking force. We have done the experiment to measure the inertial moment of the rear tire (in-wheel motor was attached) and the front tire (in-wheel motor was not attached) because it affects the hysteresis characteristics. The effect of the hysteresis of friction force for a small electric vehicle during braking on dry asphalt and icy road was calculated by MATLAB/Simulink.