Mechanism And Method Of Spatial Stability Decoupled Control For In-wheel Motors Drive Electric Vehicle

Based on the advantages of its layout and control,in-wheel motors drive system is known as the ultimate driving form of electric vehicles,which is a main direction that new energy vehicles will develop towards in the future.Due to the in-wheel motors,the unsprung mass increased significantly,so that it will cause negative effects such as spatial instability on uneven road.On account of the advantages of the independent control,a decoupled control strategy for improving the vehicle spatial stability is proposed,which improved the dynamic performance of motorized wheel drive vehicle.The main research content are as follows:1.Aiming to the structure characteristics of in-wheel motors drive system,On account of the analysis of the spatial stability control mechanism of in-wheel motors drive vehicle,the mechanical transfer equations for the vertical force adjusting the vehicle body generated from the driving and braking torque of in-wheel motors was established,and a roll stability control method was proposed.In order to solve the issues of mutual interference between the yaw and roll control,the decoupling method for yaw and roll motion was proposed.2.In order to verify the feasibility of the proposed control method,the dynamic model of the motorized wheel drive vehicle was established,and the yaw and roll stability controller was designed.Simulations were performed based on Matlab/Simulink,and the proposed control strategy can improve the yaw and roll stability effectively,and the decoupling method can achieve the bottom distribution of the drive torque reasonably and effectively.3.In order to verify the difference of the rollover evolution process of in-wheel motors drive vehicles on flat road and uneven road,the tire model suitable for uneven road was established,and combined with the vehicle model to analyze the rollover characteristics on the Matlab/Simulink simulation platform.In view of the rollover on uneven road,the rollover prevention controller was designed,and the effect of the controller was verified by simulation.4.Road tests were conducted to estimate the real effect of the proposed vehicle stability control strategy with the use of an in-wheel motors drive vehicle developed by our research group.The verification reveals that the proposed control strategy can effectively improve the spatial stability of motorized wheel drive vehicle.