Abstract
The four-wheel independent driven electric vehicle (4WID-EV) can easily realize the four-wheel independent drive, which is convenient for the development and design of the direct yaw moment control system (DYC). Based on the theory of ADRC and the sliding mode control, a new type of DYC controller coordinated with the AFS controller using PID method is designed for the 4WID-EV in this paper. The coordinated control work area is divided according to the tire lateral force linear area. An improved particle swarm optimization algorithm which introduces linear decreasing inertia weight and annealing strategy is adopted to obtain the coordination work weight. The effectiveness of the DYC controller is verified by the Simulink simulation. It also shows that the performance is further improved after the coordinated control.
Highlights
Ecological deterioration, energy depletion and other issues are increasingly perplexing the survival of human beings, and the vehicles that people rely on for daily travel mainly rely on burning fossil fuels, which undoubtedly aggravates the ecological and energy problems
In addition to the good environmental protection effect, electric vehicles have the advantages of high-energy conversion rate, low noise, recyclable energy and so on
Because the vehicle side-slip angle is very small in the linear region, the stability of the vehicle is mainly determined by the yaw rate,23 this paper only aims at the Active front steering (AFS)
Summary
Ecological deterioration, energy depletion and other issues are increasingly perplexing the survival of human beings, and the vehicles that people rely on for daily travel mainly rely on burning fossil fuels, which undoubtedly aggravates the ecological and energy problems. In addition to the good environmental protection effect, electric vehicles have the advantages of high-energy conversion rate, low noise, recyclable energy and so on. The Four-wheel independent driven electric vehicle (4WID-EV) can drive each wheel independently by installing a hub motor on four wheels separately. The electric vehicle with this driving form is more compact and has higher transmission efficiency, which will make it an important direction for the development of new energy vehicles in the future. The 4WID-EV has not been mass produced and only appears in the concept vehicle. The research on the handling stability and safety performance of the 4WID-EV has become one of the current research.
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