Research On Lateral Stability Control Of Distributed Drive Electric Vehicles

With the rapid development of the automotive industry,the energy crisis and environmental pollution issues have become increasingly prominent.Electric vehicles and their stable and safe technologies have become the focus of research in various countries around the world.Since the distributed electric vehicle can independently control the wheel drive/braking torque independently,it has a unique advantage in realizing the steering stability control of the vehicle.This paper studies the yaw stability control of vehicles based on distributed drive electric vehicles.The main research contents include the following aspects:(1)Taking distributed driving electric vehicles as the research object,the vehicle dynamic model is established,which provides a theoretical basis for the vehicle state estimation and the design of the yaw stability control system in the subsequent chapters.(2)Analyze the cause of vehicle instability,and use the extended Kalman filter algorithm to estimate the vehicle's centroid yaw and yaw rate.Simulation results verify the effectiveness of the algorithm.(3)A layered vehicle yaw stability controller is deigned.The upper controller uses fuzzy PID control to calculate the additional yaw moment required under ideal driving conditions.The lower controller uses the minimum sum of the tire pavement adhesion utilization as the optimization goal,and uses the quadratic programming method to optimize the distribution of the wheel torque.(4)CarSim and MATLAB/Simulink were used to carry out a double-shift line joint simulation test,and the comparison was made through real vehicle road tests.The test results show the effectiveness of the yaw stability control strategy.