Integration of heavy commercial road vehicle platooning concept and electric vehicle technology is a promising approach as far as sustainable freight transportation is considered. This article attempts to design a string stable controller for an electric heavy commercial road vehicle platoon by incorporating critical factors such as complete vehicle dynamics model, pneumatic brake system model and cooperative braking between friction and regenerative braking systems. The sliding mode control technique has been used for string stable platoon operation. The impact of various battery pack locations on string stability has also been analysed. The performance of the controller has been investigated by considering electric heavy commercial road vehicle platoon operation on different road slope (straight, uphill and downhill) conditions, dry and wet road conditions and vehicle load conditions. It has been observed that the battery pack location has a significant influence on string stability with respect to the platoon operating conditions. During operation on straight and level roads, string stability was achieved irrespective of the location of the battery pack. However, during downhill and uphill driving conditions, it was found that placing the battery pack near front and rear axle locations, respectively, helped in ensuring string stable platoon operation.

就考虑可持续货运而言，将重型商用道路车辆排油概念与电动汽车技术相结合是一种很有前途的方法。本文试图通过结合诸如完整的车辆动力学模型，气动制动系统模型以及摩擦制动与再生制动系统之间的协同制动等关键因素，为电动重型商用公路车辆排设计一种弦稳定控制器。滑模控制技术已用于弦稳定排操作。还分析了各种电池组位置对电池串稳定性的影响。通过考虑电动重型商用道路车辆排在不同道路坡度（直线，上坡和下坡）的条件下对控制器的性能进行了研究，干燥和潮湿的道路状况以及车辆负载状况。已经观察到，相对于排操作条件，电池组的位置对串的稳定性有很大的影响。在直线和水平道路上运行期间，无论电池组的位置如何，都可以实现弦的稳定性。然而，发现在下坡和上坡行驶条件下，将电池组分别放置在前轴和后轴位置附近，有助于确保琴弦稳定的排操作。