Modeling and Comparative Simulation of Two Control Allocation Algorithms of Vehicle Dynamics Control for a 4 In-Wheel-Motored Electric Vehicle

摘要

In this paper,two control allocation algorithms for the handling and stahility of the 4WD-EV are involved.They are exact direct longitudinal tire forces allocation,weightecl least-squares longitudinal tire forces allocation.This paper compares the performances of the two allocation algorithms by means of closed-loop simulation.Firstly,the paper introduces the control objective,allocation and also modeling prozesses of the two control allocation algorithms.Secondly,in the Vedyna software platform,the closed-loop simulation virtual tests are conducted under double lane change and slalom conditions to analyze the ability of tracking the ideal path of the different allocation algorithms.Simulation results indicate that considerable standard of the vehicle handling and stability can be achieved with both of the two control allocation algorithms.Considering the adaptability to the test conditions and stability of the vehicle,weighted least-squares allocation algorithm has a better performance.