Sliding brake control method for extended-range electric drive axle semi-trailer tractor

The invention discloses a sliding brake control method for an extended-range electric drive axle semi-trailer tractor, and belongs to the field of hybrid power vehicle control. The method is suitable for a semi-trailer tractor adopting an extended range type electric drive axle scheme, estimated values of the gradient i and the mass m are obtained through gradient estimation of a recursive least square method with a forgetting factor, and then the total braking torque is selected through a fuzzy PID control method; the total braking torque is distributed to a tractor front axle, a tractor rear axle and a trailer axle according to the estimated condition value, a capacity loss model of the battery life is adopted, composite braking considering the battery life and the energy recovery efficiency is carried out through an MPC optimization control algorithm, the electromagnetic braking torque and the mechanical braking torque are reasonably distributed, and the energy recovery efficiency is improved. And greater