Yaw stability of four-wheel-drive electric vehicle based on multi-model predictive control

摘要

This paper presents a multi-model predictive control strategy based yaw stability control scheme for a 4 wheel drive with 4 hub motors. The proposed control scheme ensures that the vehicle can quickly achieve the minimum vehicle safety requirements in various working circumstances. Generally the vehicle with high speed can easily lose stability emergency obstacle avoidance maneuver (double line change), sudden damage of key vehicle components and hazardous external environment. The complex nonlinear dynamics of electric vehicle result in large model uncertainties and the conventional robust or parameter adaptive control methods can hardly ensure vehicle stability and accuracy. The proposed strategy employs multi-model control method (MMC) and model predictive control (MPC) method to solve the nonlinearities and uncertainties in electric vehicle. As a result the vehicle delivers superior performance in hazardous driving conditions. The simulations results in CARSIM and Simulink environment confirm the effectiveness of the proposed algorithm. At last the control performance would be examined by utilizing the joint simulation program of CARSIM and Simulink.