Research on direct yaw moment and steering control of distributed drive vehicles
To further improve the lateral stability of vehicles during steering and driving, this paper studies a distributed drive electric vehicle and proposes a control strategy by employing the phase plane method to determine the stable region and control the stability of the vehicle's motion state under a layered integrated architecture.The ideal lateral velocity and the ideal yaw rate obtained from the two degree of freedom model are used as input values for the upper controller.It adopts a dual sliding film controller structure to track the ideal lateral velocity and ideal yaw rate, and obtains the control values of the added angle and additional yaw moment.The lower level controller mainly coordinates the input and output values of steering control and yaw torque control based on the boundary values obtained by the phase plane method,then allocates the tire force and steering angle to the four wheels through the optimal allocation algorithm, and ultimately achieves the vehicle stability control.Our simulation of the control algorithm verifies the effectiveness and feasibility of the proposed control strategy.
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