Analysis and Roll Prevention Control for Distributed Drive Electric Vehicles

Abstract

This work presents an approach to improve the roll stability of distributed drive electric vehicles (DDEV). The effect of the reaction torque from the in-wheel motor exerts additional roll moment, which is different from traditional vehicles. The additional roll moment can be achieved by active control of the wheel torque adjustment, which achieves a control effect similar to the active suspension. The anti-roll control strategy of decoupling control of roll motion and yaw motion are proposed. The direct yaw moment is calculated by the linear quadratic regulator (LQR) algorithm while the additional rolling moment is calculated by the sliding mode variable structure. For maneuvering rollover caused by excessive lateral acceleration, an anti-rollover control strategy is designed based on differential braking. A fuzzy control theory is used to decide the yaw moment to be compensated. The distribution method of the braking torque applied to the outer wheel alone, and the lateral load transfer rate is the main evaluation index for simulation verification of typical working conditions. The simulation results show that the proposed control strategy for DDEV is effective.