Research On Control Strategy Of Handling Stability For Multi-axle In-Wheel Motor Drive Vehicle

Wheeled armored vehicles have many advantages such as light weight,high speed,and strong mobility.Multi-axle wheeled armored vehicles equipped in-wheel motor is an important development direction.Multi-axle in-wheel motor drive vehicle has the advantages of a simple structure,high transmission efficiency and superior performance.The combat capability and maneuverability will be greatly im on the battlefield.Based on the in-wheel motor drive technology in an 8-wheeled vehicle,the handling stability of the vehicle was analyzed in detail,and the relevant control strategy was developed.A 23-DOF vehicle model was established including body,suspension,wheel and tire and other systems based on vehicle dynamics.A simulation analysis model based on Matlab/Simulink was established and the effectiveness of the model has been verified.The driver model based on the theory of "previewing the optimal curvature" has been established,which is the foundation of the driver 's closed-loop simulation.The relationship between yaw rate,side slip angle and vehicle handling stability was discussed.And the factors influencing the stability of handling stability were analyzed by simulation.A 2-DOF reference model was established,and the reference yaw rate and reference side slip angle were obtained.Based on hierarchical control structure,the superstratum control strategy based on sliding mode control and the substratum control strategy based on optimal control allocation were established.The simulation model of hierarchical control structure was established in the Matlab/Simulink simulation environment.Through the simulation analysis,we could see that the proposed hierarchical control structure in the thesis could improve the handling stability of the vehicle in the process of steering.