Research on the Stability Control Strategy of Four-Wheel Independent Driving Electric Vehicle

• 作者: Bo Peng Huanhuan Zhang Peiteng Zhao
• 来源期刊: 工程(英文)(1947-3931)
• 学科: 医学
• 关键词: INDEPENDENT Drive Electric VEHICLE TORQUE ALLOCATION VEHICLE Stability PID Control
• 年，卷（期）: 2017,（3）
• 页码范围: 338-350
• 页数: 13页
• 分类号: R73

摘要

In order to research stability of four-wheel independent driving (4WID) electric vehicle, a torque allocation method based on the tire longitudinal forces optimization distribution is adopted. There are two layers in the controller, which includes the upper layer and the lower layer. In the upper layer, according to the demand of the longitudinal force, PID controller is set up to calculate the additional yaw moment created by yaw rate and side-slip angle. In the lower layer, the additional yaw moment is distributed properly to each wheel limited by several constraints. Carsim is used to build up the vehicle model and MATLAB/Simulink is used to build up the control model and both of them are used to simulate jointly. The result of simulation shows that a torque allocation method based on the tire longitudinal forces optimization distribution can ensure the stability of the vehicle.