Research On Control Strategy Of Distributed Electric Vehicle Body Stability Based On Moment Distribution

As the energy crisis and environmental pollution caused by traditional petrochemical energy vehicles have become more serious,the advantages of electric vehicles such as pollution-free and high efficiency have become more prominent,and the development of related technologies has attracted more and more attention from the state and society.Compared with other drive forms of electric vehicles,this thesis takes the distributed electric vehicle driven by in-wheel motors as the research object and researches its dynamic characteristics,and the stability control and torque distribution of the vehicle are the research objectives to design the stability control system.The main contents of this thesis are as follows:1.Through Simulink and based on the dynamic equations of different tire models,three tire models,magic tire,Dugoff tire,and Uni Tire model,are constructed,and the output of different tire models is analyzed under given conditions.Combined with the vehicle dynamic equation,the Uni Tire-seven degree of freedom co-simulation platform is constructed,and the reliability of the co-simulation platform is verified by using Carsim software.2.Analyze the influence of sideslip angle and yaw rate on vehicle stability.Taking into account the real-time and complexity of the system,to obtain the relevant parameters,EKF,UKF,and nonlinear full-dimensional state observers are established.At the same time,the performance and accuracy of the state observer are analyzed through simulation experiments under various conditions,and the most appropriate state observer is selected through the simulation results.3.The phase diagram is used to analyze the vehicle stability area under different road adhesion coefficients,the stability judgment equation is constructed,and the tire slip rate is used to estimate the road adhesion coefficient.The additional yaw moment is calculated through sliding mode control to achieve the purpose of maintaining vehicle stability,and the average distribution algorithm and the optimal distribution algorithm are designed respectively with the vehicle steering characteristics and tire utilization rate as the objectives.4.Combine the co-simulation platform and the state observer to establish the stability control system,verify and analyze the control performance of average distribution and optimal distribution under a variety of working conditions.After the above research,a distributed drive electric vehicle stability control system is constructed,which uses the method of torque distribution to maintain the vehicle body stability under extreme conditions.