Analysis And Control For Lateral Dynamics Of Distributed Drive Electric Vehicle Under The Influence Of In-vehicle Network

The distributed drive electric vehicle can realize the multi-motor coordinated drive flexibly;it's easier to realize the dynamic control of the vehicle by DYC(Direct Yaw moment Control).The application of vehicle network greatly facilitates the integration of coordinated drive system,but at the same time,it brings some new problems,such as network induced delay and network scheduling which often lead to poor control performance of vehicle handling stability.In this paper,the research on the lateral dynamics of distributed drive electric vehicle based on vehicle network is presented.The main research contents and results are as follows.First of all,according to the needs of the research,based on Matlab/Simulink,a "human-vehicle" closed loop simulation platform is established.The simulation platform is verified by the high-fidelity full-vehicle model in CarSim to ensure the accuracy and practicability of the simulation platform to meet the requirements of the following simulation and experiments.Then,the network characteristics of the integrated control of the distributed drive electric vehicle are analyzed.From the perspective of network control theory,the influence of sampling period and network induced delay on the control performance of vehicle handling and stability is analyzed by simulation.According to the structural characteristics of distributed drive electric vehicle,a dynamic model of vehicle with time delay is established.Then,the cooperative design of vehicle lateral dynamics control and scheduling is presented.The paper mainly presents effective solutions to the problems of random delay of single packet transmission and multi packet transmission.For the problem of single packet transmission random delay,a multi parameter fuzzy sliding mode controller is designed;for the problem of multi packet transmission random delay,a stabilization control strategy is proposed.Based on Lyapunov stability theory and network calculus theory,by setting the priority of message and the length of time buffer to ensure the network induced delay in a certain range,so as to ensure the stability of the control system.Finally,the effectiveness of the solutions for the single packet transmission and multi packet transmission random delay problems are verified by the co-simulation of the network control system simulation toolbox TrueTime and the high fidelity software CarSim.At the same time,the experiment is designed by the MicroAutoBox hardware in the loop simulation platform.The experimental results are consistent with the simulation results,which further verifies the effectiveness of the proposed solution.