Abstract
Abstract After the reference of straight line stability control strategy of four-wheel drive vehicle, this paper proposes a control algorithm combining the sliding mode variable structure and optimization control method. The control algorithm is mainly divided into the upper generalized moment calculation based on the sliding mode variable structure controller and the lower torque distribution controller based on the optimization algorithm, also including the slip rates controller based on PID algorithm to ensure the straight line stability control. This paper establishes the combined model based on the CarSim and MATLAB, and tests to verify the validation of the control strategy through the four-wheel drive vehicle test-bed based on RT_LAB. The simulation and experimental results show that when the tire-road friction coefficient is low, the control strategy can not only make the vehicle tire slip rates stay near the optimal slip ratio, at the same time through the yawing moment adjustment, ensure the yaw angle of vehicle not beyond 0.5 deg/s, so the method can effectively ensure the straight line stability of four wheel drive vehicle.
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