Study On Direct Yaw Moment Control Based On Electric Vehicle With Four-Wheel Independent Drive In-Wheel Motors

Energy crisis and environmental pollution has become big difficult problems of human,and the development of electric vehicles becomes an effective way to solve these twoproblems. Electric vehicle with four-wheel independent drive in-wheel motors is one of themore promising among electric vehicles. The overall quality for the four-wheel independentdrive electric vehicle with in-wheel motors is lower. Four wheels can independent control.The torque and speed of the wheel is easy to adjust. The vehicle has its unique advantages inmotion control of the vehicle and driving force distribution compared with the traditionalinternal combustion engine vehicle.Summarize the domestic and foreign correlation research results, and make use of theadvantages of four-wheel independent drive and torque and speed of the wheel is easy toadjust, a series of study work is done as for direct yaw moment control based on electricvehicle with four-wheel independent drive in-wheel motors. The study is based on theNational Natural Science Fund Project Youth Science Fund (E51305190)“Study on AdaptiveSteering for Intelligent Four-wheel Independently Driven In-wheel Motors Electric Vehicle”.Four-wheel independently driven in-wheel motors electric vehicle model is established basedon CarSim and Matlab/Simulink co-simulation platform. Hierarchical control structure forfour-wheel independently driven in-wheel motors electric vehicle is adopted. Additional yawmoment decision controllers are designed based on PI control, adaptive fuzzy-PI control andvariable universe fuzzy control. Driving forces allocation methods based on rules andoptimization are designed in the paper. The control method is verified by CarSim andMatlab/Simulink co-simulation. The driving simulator hardware-in-loop of Liaoninguniversity of technology is used to verify the control methods. The experiment results showthat the control methods can effectively improve the vehicle stability. Additional yaw momentdecision controller based on variable universe fuzzy control is more effective compared withtwo other kinds of control methods.