Lateral stability of distributed electric vehicle steering torque adaptive distribution strategy
To improve the lateral stability of the distributed drive electric vehicle, a two-degree-of-freedom dynamic model of the distributed drive electric vehicle is built based on Matlab/Simulink and CarSim, and the lateral stability control strategy of the vehicle is designed. The control system consists of two parts:the upper torque calculation controller, mainly based on PID control strategy to calculate the additional yaw torque required by the vehicle; the lower torque distribution controller, according to the size of additional yaw torque required when the vehicle turns, selects the appropriate distribution mode among the three torque distribution modes of differential drive, differential braking and friction braking to distribute the torque reasonably to each hub motor. Our results show the lateral stability control system reduces the yaw speed of the vehicle by up to 58％, keeps a good track of the ideal centroid side angle, and reduces the fluctuations, effectively improving the lateral stability of the vehicle when steering. Under the control of differential drive distribution mode, the vehicle performs well on tracking the desired speed. When the additional yaw moment required by the vehicle is large, the lower torque distribution controller adopts differential braking and friction braking distribution mode, sacrificing the tracking of the desired speed.
distributed drive electric vehicleslateral stabilityPID controltorque adaptive distribution
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