Driving Stability Control of a Dual-mode Coupling Drive Intelligent Electric Vehicle on Bisectional Slopes
Distributed-drive intelligent electric vehicles can yield improved maneuverability when driving on bisectional slopes by independently distributing the driving torque of each wheel.However,they require a high torque output at each wheel and posing challenges in maintaining vehicle lateral stability.To address these issues,a dual-mode coupling drive system that can achieve a centralized and distributed coupling drive function was developed to jointly control the coupling drive anti-slip control and active steering systems to improve driving stability on bisectional slopes.First,a vehicle model was established.Subsequently,the dynamic mechanism of using the dual-mode coupling drive to improve vehicle maneuverability on bisectional slopes was analyzed.Second,a driving stability control system based on the coordination of the coupling drive anti-slip and active steering systems was designed.The designed system consists of an upper-level anti-slip controller that achieves optimal slip rate control,active steering feedforward controller that reduces control overshoot and counteracts differential torque,and active steering feedback controller based on T-S fuzzy model predictive control designed to mitigate speed disturbances.Finally,an offline simulation and real vehicle test verification were conducted to assess the driving stability control effect.The research results indicated that on a 10％gradient bisectional slope,the coupling drive significantly enhanced the vehicle's dynamic performance by 41.32％compared to the performance achieved with a distributed drive system.Compared with the control method without feedforward coordination,the proposed coordinated control reduced the lateral displacement error by 68％and shortened the adjustment time by 10.81％.The proposed control method not only significantly improves the power delivery and maneuverability characteristics of the vehicle but also improves its directional stability.
automotive engineeringintelligent electric vehicledual-mode coupling driveanti-slip controlactive steeringcooperative control
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