Research on Steering Stability Control of Electric Vehicle Driven by Dual InWheel Motor

Abstract

The dual in-wheel motor electric vehicle has the advantages of fast response and high flexibility, while its stability and safety are more difficult to control. To study the stability control of the dual in-wheel electric vehicle when turning, firstly, the paper establishes the Ackerman model of the dual in-wheel electric vehicle, and controls the wheel speed and slip rate by the method of logical threshold value; then establishes the linear two degree of freedom model of the double hub electric vehicle, obtains the vehicle yaw moment and ideal yaw rate by using the mathematical formula, and controls the wheel speed and slip rate by the sliding mode control. The moment is distributed so that the actual yaw rate keeps tracking the ideal value. The electronic differential control strategy of wheel slip rate and wheel yaw rate is established. Finally, the control strategy is simulated by MATLAB. The simulation results show that the proposed control strategy of slip rate and yaw rate can make the vehicle drive stably when turning