Stability Research of Distributed Drive Electric Vehicle by Adaptive Direct Yaw Moment Control

Houzhong Zhang,Yingfeng Cai,Haobin Jiang,Xing Xu,Jiasheng Liang

doi:10.1109/access.2019.2933016

Houzhong Zhang, Yingfeng Cai + Show 3 more

Open Access

https://doi.org/10.1109/access.2019.2933016

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Abstract

As one of the active safety technologies, stability control of vehicles has recently received great attention. In order to improve the handling stability of distributed drive electric vehicles under various extreme conditions, a direct yaw moment control (DYC) method based on a novel fuzzy sliding mode control (FSMC) is proposed. First, a linear 2DOF reference vehicle model as ideal value reference, a 7DOF vehicle model used for sideslip angle estimation, an electric-driving wheel model used to provide tire motion parameters based on CarSim platform are established. Then, FSMC is designed as the core decision-making layer of the control method to calculate the required additional yaw moment on the premise of estimating the sideslip angle. Four hub motors are allocated by the distribution method based on axle load proportion. Finally, under two typical working conditions, the four hub motors are allocated. Compared with traditional sliding mode control (SMC), the results show that FSMC can not only maintain vehicle stability more effectively under different working conditions, but also greatly reduce the occurrence of buffeting phenomenon, which has practical significance for engineering applications.

Highlights

IntroductionAutomobile safety issues have been gradually emphasized, and the traditional safety concept is too passive to satisfy the current needs
With advancements in society, automobile safety issues have been gradually emphasized, and the traditional safety concept is too passive to satisfy the current needs
The Simulink model of fuzzy sliding mode control (FSMC), and the whole vehicle model in CarSim are used to carry out joint simulation tests under two working conditions, which include a double lane-shifting test and fishhook test, the estimation effect of adaptive unscented Kalman filter (AUKF) is verified under two conditions, and the traditional sliding mode control (SMC) and unstable control are compared with the FSMC designed

Summary

Introduction

Automobile safety issues have been gradually emphasized, and the traditional safety concept is too passive to satisfy the current needs. The concept of active safety is gradually being developed by various research institutions and enterprises [1]. As a kind of active safety control technology, a substantial amount of facts have proven that direct yaw moment control (DYC) has a remarkable control effect regarding the vehicle handling stability under extreme conditions, such as rapid steering wheel input, or at high speeds [2]. The calculation of the yaw moment is quite important in a DYC system. The value of an additional yaw moment fundamentally determines the control effect. The main calculation methods at the decision-making level are fuzzy control, fuzzy PID control and sliding mode control.

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