Research on Integrated Control of Steering Stability of Multi-wheel Independent Electric Drive Vehicle

doi:10.3969/j.issn.1000-1093.2017.05.001

Abstract

Abstract:

An integrated control method based on direct yaw moment control (DYC) is designed to improve the steering stability of multi-wheel independent electric drive vehicle, which includes the upper coordinated controller and the lower controller. The lower controller is optimized by designing a distribution with pre-distribution, driving skid-resistance control and compensation. The optimized torques of the system and the driving wheels keep the performing error of yaw moment minimal. The double lane change experiments of a prototype vehicle on low friction road and high friction road show that the integrated controller can improve the steering stability significantly and follow the desired tracks. Key

Key words: controlscienceandtechnology, multi-wheelindependentelectricdrive, directyawmomentcontrol, optimalslipratio, integratedcontrol

CLC Number:

TJ810.3⁺23

LIAO Zi-li， YANG Gui-bing， GAO Qiang， YUAN Dong. Research on Integrated Control of Steering Stability of Multi-wheel Independent Electric Drive Vehicle[J]. Acta Armamentarii, 2017, 38(5): 833-842.

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第38卷第5期
2017 年5月兵工学报ACTA
ARMAMENTARIIVol.38No.5May2017

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