Modeling and Integration of Electric Vehicle Regenerative and Friction Braking for Motor/Dynamometer Test Bench Emulation


This paper provides a new approach for emulating electric vehicle (EV) braking performance on a motor/dynamometer test bench. The brake force distribution between regenerative braking and friction braking of both the front and rear axles are discussed in detail. A brake controller is designed, which represents a very close model of an actual EV braking system and takes into account both regenerative and friction braking limitations. The proposed brake controller is then integrated into the controller of an EV hardware-in-the-loop (HIL) test bench, and its performance is validated in real-time. The effect of adding the brake model is further investigated by comparing the experimental HIL energy consumption results with those obtained from ADvanced VehIcle SimulatOR (ADVISOR).


Electrical and Computer Engineering

Research Center/Lab(s)

Intelligent Systems Center

Keywords and Phrases

Brakes; Braking; Controllers; Electric Machine Control; Electric Vehicles; Energy Utilization; Friction; Friction Materials; Front Axles; Regenerative Braking; Traction Motors; Tribology; Vehicles; Advanced Vehicle; Brake Controller; Braking System; Force Distributions; Friction Braking; Hardware In The Loops; New Approaches; Test Benches; Braking Performance; Electric Vehicle (EV); Motor/Dynamometer

International Standard Serial Number (ISSN)

0018-9545; 1939-9359

Document Type

Article - Journal

Document Version


File Type





© 2016 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jun 2016