Research into yaw stability control strategy for electric vehicle with distributed dual-motor rear drive
[Objective]In order to improve the yaw stability of the vehicle,a yaw stability control strat-egy of a rear-distributed dual-motor electric vehicle is proposed,and a three-layer system construction is ad-opted.[Method]The extended Kalman filter is used to estimate the dynamic cornering stiffness of the front and rear axles to improve the model accuracy and stability of the control system in the upper observer layer.The sliding model controller based on the tangent function is used to control the system parameter error and to adjust the additional desired yaw torque in the middle controller layer;considering the minimum sum of tyre utilization as the optimal objectives,the additional desired yaw torque is distributed to the rear axle drive wheels to realize the vehicle yaw stability during cornering in the lower controller layer.[Result]The simulation test result shows that by adopting dynamic cornering stiffness,the maximum sliding surface error is reduced by 44% and the desired yaw rate,which is close to the actual yaw rate,is increased by 10.5% compared to the reference.[Conclusion]The designed control strategy is more robust and the dynamic cor-nering stiffness makes the desired yaw rate model closer to the actual yaw rate value.
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