Integrated Direct Yaw Control and Antislip Regulation Mixed Control of Distributed Drive Electric Vehicle Using Cosimulation Methodology

Abstract

The improvement of handling and stability performance of Distributed Drive Electric Vehicle (DDEV) is analyzed, visualized, and designed by proposing and deploying the mixed control strategies in this paper including Direct Yaw Control (DYC), Antislip Regulation (ASR) and a novel Dual-mode Switching Control (DMSC). First, by drawing the phase trajectory stability domain, the vehicle stability limit boundary can be determined, which provides the basis for the lateral stability constraint of the vehicle. Then, the practicability and real time visualization of driving efficiency and timeliness of DDEV is achieved to reduce the margin of error for the desired torque value by employing the DYC strategy which uses a fuzzy PID algorithm. Furthermore, the ASR strategy which adopts the optimal slip rate algorithm to determine the requirement of desired torque value based on the different road conditions is used to reduce slip phenomenon effectively and to maintain handling control of DDEV. In response to different scenes especially conflict and coexistence between DYC and ASR, the DMSC strategy is applied to find a more suitable slip rate range by using the root mean square error method (REME). Finally, the cosimulation platform of ADAMS/Car and MATLAB/Simulink is built to simulate the mixed control strategies by integrating DYC, ASR, and DMSC. The simulation results show that the DMSC can effectively prevent DDEV from entering the dangerous limit driving state when turning and driving. The strategy has a more significant control effect needed to meet the requirements of the driving safety of the vehicle and handling stability. The DMSC is adopted and downloaded into the electronic control unit of our student type formula vehicle called Flash V6 which was designed and developed by a team of students, the ZUST ATTACKER Team.