Abstract
In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.
Highlights
Electric vehicles are vehicles driven by electricity [1], including four-wheel independent drive (4WID), fourwheel independent steering (4WIS), four-wheel independent braking (4WIB), etc
It showed that the control performance of the integrated control method was better and more stable than that of single control method, which is more conducive to the safe driving of vehicles
In the comparison between single Direct Yaw Moment Control (DYC) and Active Rear-Wheel Steering (ARS)+DYC, the DYC controller could promote the stability of the vehicle, but it could not meet the need of safe driving; under the integrated control, the DYC controller could improve the stability of the vehicle, the variation of values of r and b was small, which was close to the reference value, indicating that the stability of the vehicle was good
Summary
Electric vehicles are vehicles driven by electricity [1], including four-wheel independent drive (4WID), fourwheel independent steering (4WIS), four-wheel independent braking (4WIB), etc. There are two main directions: one is to control the wheel angle, including Active Front Steering (AFS) [2], Active Rear-Wheel Steering (ARS), etc., and the other is to improve the tire adhesion to the ground or to correct the vehicle deficiencies under extreme conditions, including Acceleration Slip Regulation (ASR), Direct Yaw Moment Control (DYC), etc [3]. These control methods all have some shortcomings. The input is usw or df, and the outputs are rd and bd
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