Study on the Stability Control Strategy for Distributed Driving Electric Vehicle

摘要

This paper describes a stability control strategy for four wheels distributed driving electric vehicle (4WD). The stability algorithm consist of two parts: (1) The upper hierarchical controller that determine the required yaw moment which used to maintain the vehicle stability; (2) The lower hierarchical controller that distribute the driving or braking force of each wheels. The upper hierarchical controller calculate the yaw moment through sliding model theory which take account into the error between actual value and idealized value for yaw rate and side slip angle. The lower hierarchical controller distribute the required yaw moment by adjusting braking or driving torque based on tire load condition. Firstly, the required yaw moment is preferred to distribute by the hub wheel motor. Then the hydraulic brake system compensates for the required yaw torque, when the hub motor outputs the maximum torque. Numerical simulation studies have been conducted to evaluate the proposed vehicle stability control strategy. The simulation results demonstrated that the proposed stability control strategy can improve the vehicle handling stability and driving safety.