Study on the vertical and lateral coupling dynamics control of the in-wheel motor-driven electric vehicles under multi-excitation

Abstract

To study the coupling dynamics control in the vertical and lateral directions of the in-wheel motor (IWM)-driven electric vehicles under the steering input, road and electromagnetic excitation, a verified 16-degrees-of-freedom coupling dynamic model is given. To improve the vehicle coupling dynamics, a dynamics controller is designed based on the active suspension, active front steering (AFS) and direct yaw control (DYC) system. The dynamics controller includes a supervisory coordination layer controller and the above sub-system controller with different control algorithms, respectively. Finally, comparative analysis is carried out to verify the validity of the controller designed in this paper. The results show that, whether the road has a high or low adhesion coefficient, the controller developed in this paper is highly effective for the coupling dynamics of the IWM-driven vehicle. Especially, on a road with low adhesion coefficient, the control effect on the vehicle running stability and path track capacity is more obvious.