Research On Stability Control For Distributed Drive Electric Vehicle Based On Torque Distribution

With the restraints of environment and energy, electric vehicles offer hope for automotive industries. Researchers look favorably on distributed drive EV whose unique mechanism courses huge differs from traditional ones in vehicle dynamics control, and may bring a revolutionary breakthrough in vehicle stability control. Based on sliding mode, direct yaw moment control(DYC) designed by hierarchical concept attracts much attention in stability control for distributed drive electric vehicle.The design and verification of stability control system in this article is according to model-based design(MBD). Analysis and comparison of vehicle dynamics for distributed drive electric vehicle and traditional vehicle has shown the advantages of distributed drive electric vehicle in stability control. It captures system functional requirements that the system realizes the potential of acceleration in stability control progress.The controller model built in Simulink/stateflow is hierarchical, contains upper level and lower level. In upper level, DYC based on sliding mode control(SMC) is proposed to maintain vehicle states tracking the based model through reasonable alternatives for sliding surface, approaching law and approximation function. In lower level, distribution for wheel driving torque is presented, considering ground adhesion and motor characteristics. An algorithm estimating motor maximum output torque in special condition is applied to limit the motor torque, which can obtain reasonable wheel slip ratios.Vehicle model is built in AMEsim. Simulink/AMEsim co-simulation is carried out to verify controller model. Then, real-time code is generated in Simulink and AMEsim, processor in loop(PIL) test is conducted on NI real-time platform to validate the code and control logic. Effects of controller parameters on control are discussed. A physical ECU is obtained based on Moto Tron, and is tested in hardware in loop.The V mode in automotive electronics development is also adopted in this article.