Lateral Stability Control of Four-Wheel-Drive Electric Vehicle Based on Coordinated Control of Torque Distribution and ESP Differential Braking

Liqing Chen,Juanjuan Yang,Zhiqiang Li,Yu Song

doi:10.3390/act10060135

Abstract

This research focuses on four-wheel-drive electric vehicles. On the basis of the hierarchical coordinated control strategy, the coordinated control system of driving force distribution regulation and differential braking regulation was designed to increase the electric vehicles steering stability under special road working conditions. A seven-degree-of-freedom model of an electric vehicle was established in MATLAB/Simulink, and then a hierarchical coordination control model of the Electronic stability program and dynamic torque distribution control system was established. Adaptive fuzzy control was applied to ESP and, based on the neural network PID control, a torque distribution control system was designed. On the basis of the proposed coordinated control model, a performance simulation and a hardware-in-the-loop test of the control system under the typical working condition of single line shift were carried out. From the final results, it can be seen that the proposed control strategy can greatly improve the safety of the vehicle after serious side slip, increase the stability of the whole vehicle, and effectively increase the vehicle lateral stability.

Highlights

With the increasing use of green energy, electric vehicles (EVs) are becoming increasingly popular and are one of the most promising technologies in terms of transforming the transportation system [1,2]
The required yaw rate, the actual yaw rate, and the error between them are selected as the network inputs, and, for the purpose of stabilize the network, the constant term 1 is added
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Summary

Introduction

With the increasing use of green energy, electric vehicles (EVs) are becoming increasingly popular and are one of the most promising technologies in terms of transforming the transportation system [1,2] This is because they have the advantages of energy saving and environmental protection, accurate torque control, and a simple mechanical structure [3,4]. Four-wheel-drive electric vehicles have great potential in terms of improving the stability of vehicles because of their unique driving mode [5,6]. For this reason, they are becoming more and more popular with consumers. In order to distribute the torque between the driving wheels, a lot of control strategies have been put forward

Objectives

Methods

Results