HANDLING IMPROVEMENT CONTROL FOR DISTRIBUTED DRIVE ELECTRIC VEHICLES BASED ON STATE VARIABLE FEEDBACK

摘要

A novel handling improvement control system using torque vector control for distributed drive electric vehicles under normal driving conditions has been proposed based on state variable feedback control: Yaw rate feedback is applied to improve vehicle transient response, and steering angle feedforward is applied to compensate steady-state yaw rate gain. According to the feedback coefficient's influence on transient response, an optimization function is designed to obtain optimum feedback coefficients under different speeds. Feedforward coefficients are calculated by considering differential drive steering torque and motor capacity. Tests results proved that the control system can improve both the transient and the steady-state performance, coordinate the differential drive assisted steering torque and the direct yaw moment control.