Study of stability control of distributed drive electric vehicles under tire blowout conditions
We propose a joint inner and outer loop control strategy to address the loss of stability and deviation of the driving trajectory of intelligent vehicles after a tire blowout.The algorithm is calculated with the look-ahead point and the actual position of the vehicle to determine the target point that brings the vehicle back to the intended path and outputs the front wheel angle.The inner loop control adopts a hierarchical structure,and the upper controller is designed with fuzzy control theory as the core.The controller calculates the additional yaw moment based on the difference between the actual center-of-mass lateral deflection angle and the yaw rate and the desired value.The lower layer controller then optimizes the torque distribution coefficients for the additional yaw moment using the Whale Optimization Algorithm to optimally distribute the wheel torque.We build a joint simulation platform of CarSim and Matlab/Simulink for experiments.Our results show the lateral declination angle of the centroid under straight travel is 10.61％of the uncontrolled,8.87％lower than that of the direct yaw moment control.At curves,the yaw angular velocity,lateral displacement,and lateral acceleration all experience less fluctuations,faster stabilization and convergence.Our strategy markedly improves the driving stability of distributed drive electric vehicles under tire blowout conditions.
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