Abstract
The direct yaw moment control for distributed drive electric vehicle is studied. A handling improvement algorithm based on state variable feedback control is proposed. The yaw rate feedback is employed to improve the transient response of the yaw rate, the steer angle feedforward is employed to increase the steady gain of the yaw rate. According to the feedback coefficient's influence on the transient response, an optimization function is proposed to obtain optimum feedback coefficients under different speeds. The constraint of differential torque on the front axle is calculated from the requirement of power steering, together with the motor exterior characteristic constraint of the rear axle, the maximum feedforward coefficients under different speeds are obtained. A torque distribution algorithm is presented to help the driver to speed up during the direct yaw moment control. Simulations under multiple maneuvers is carried out. While the transient response and the steady gain of the yaw rate are improved, the algorithm can also decrease the steering wheel torque; the direct yaw moment control can rectify the understeering caused by accelerating, balance the friction usage of two axles, and increase the lateral stability margin of the vehicle.
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