Integrated Control of Differential Steering and Transverse Sway Stability of Vehicles on Small Curvature Roads
In order to reduce the negative impact of vehicle failure in the front wheel steering system and ensure the transient control performance of the steering system,an integrated control method combining differential steering control and lateral stability control is proposed to realize the steering control and lateral stability control of the vehicle with complete system failure by adjusting the left and right wheel hub motor torque to form the transverse swing torque.Firstly,the LQR(Linear quadratic regulator)-based differential steering controller is designed to track the reference front wheel rotation angle and the reference transverse swing angular velocity to ensure the vehicle trajectory tracking capability,and then the fuzzy PID-based lateral stability controller is designed to track the reference mass lateral deflection angle to ensure the vehicle transverse swing stability.The two controllers above constitute a double closed-loop control system,which finally converts the control quantity into transverse swing torque to realize vehicle control.The simulation results show that the differential steering system can achieve vehicle steering control under the failure of the front wheel steering system and effectively improve the vehicle transient control performance under the action of the lateral stability control system.
electric vehicleswheel motorsdifferential steeringtrajectory trackinglateral stability
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