DLMPCS‐based improved yaw stability control strategy for DDEV

Abstract

The yaw stability of distributed drive electric vehicle (DDEV) can be guaranteed by the active steering and torque distribution systems. Conventional yaw stability control strategy mainly focuses on the study of yaw moment, while the tyre lateral saturation and excessive longitudinal skid problems are difficult to be solved efficiently. This may lead to the unstable yaw phenomenon of the vehicle such as the sideslip or tail flick. To improve the yaw stability of DDEV under the tyre lateral saturation and excessive longitudinal skid situations, a double-layer model predictive control system (DLMPCS) is presented in this work. The proposed DLMPCS consists of an anti-saturation yaw stability controller (AYSC) and an anti-slip torque distribution controller (ATDC). The AYSC is designed to guarantee the vehicle yaw stability under the tyre lateral saturation situation, through the active steering and yaw moment. The ATDC is designed to realise the torque distribution and keep the longitudinal slip ratio within the stable zone; then, the vehicle can be prevented from the excessive skid phenomenon. The simulation results confirm the improved yaw performance of the DLMPCS for DDEV under different situations.