Direct Yaw Moment and Torque Vector Control for Stability of 8×8 Distributed Electric Drive Armored Vehicles

doi:10.3969/j.issn.1000-1093.2021.10.015

Abstract

Abstract: A direct yaw and torque vector control method for 8×8 distributed electric drive armored vehicles is proposed to improve the vehicle's driving stability and take advantage of the hub motor drive.A linear 2-DOF model of vehicle is established to calculate the desired yaw rate and the sideslip angle.A hierarchical controller is designed based on this model. The upper controller is to coordinate the yaw rate and the sideslip angle. The control outputs of the two variables are calculated by using sliding mode control，and the weight function is designed to obtain the yaw torque output. The lower controller divides the eight wheels into four groups according to the axis. Then the torque of each wheel can be obtained according to the yaw moment and longitudinal force by the torque vector synthesis. The real-time simulated results show that the proposed control method can distribute the wheel torque reasonably，control the yaw rate effectively，and improve the vehicle's driving stability.

Key words: wheeledarmoredvehicle, distributedelectricdrive, yawmoment, torquevector

CLC Number:

TJ810.2

CAI Lichun， LIAO Zili， LI Jiaqi， ZHANG Yunyin， WANG Keyu. Direct Yaw Moment and Torque Vector Control for Stability of 8×8 Distributed Electric Drive Armored Vehicles[J]. Acta Armamentarii, 2021, 42(10): 2196-2205.

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第42卷第10期2021 年10月
兵工学报ACTA ARMAMENTARII
Vol.42No.10Oct.2021

[1]	LIU Yue， XI Junqiang， TIAN Zhen， ZHANG Xin. Modeling and Vibration Characteristics of Electromechanical Coupling Dynamics of Wheel Hub Driving System forWheeled Armored Vehicle [J]. Acta Armamentarii, 2021, 42(10): 2260-2267.
[2]	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.
[3]	ZENG Qing-han, MA Xiao-jun, WEI Wei, YUAN Dong. Research on Coordination Control Strategy of Driving force of Distributed Electric Drive Tracked Vehicle [J]. Acta Armamentarii, 2017, 38(1): 9-19.