Abstract
The direct yaw moment control can effectively enhance the yaw stability of the vehicle under extreme conditions, which has become one of the essential technologies for the distributed driving electric bus. Due to the features of a large mass and high center of gravity of the bus, lateral instability is more likely to occur under extreme driving conditions. To reduce the uncertainty and interference in the yaw movement process of the bus, this paper targets the instability caused by the coupling problem between the sideslip angle and yaw rate. An adaptive fuzzy sliding mode control is proposed to execute direct yaw moment control. The weight coefficient of the sideslip angle and the yaw rate is adjusted via fuzzy control in real time. The optimal direct yaw moment is finally obtained. A distribution method based on the vertical load proportion is adopted for the allocation of four motors’ torque. Under three typical working conditions, a joint simulation test was carried out. The simulation results demonstrate that the raised method decreases the amplitude of the sideslip angle by 20.90%, 12.75%, and 23.67% and the yaw rate is 8.62%, 6.89%, and 9.28%, respectively. The chattering and sudden changes in the additional yaw moment are also lessened. The control strategy can realize the control target, which effectively strengthens the yaw stability of the bus.
Highlights
The distributed driving electric bus play a significant role in urban public transportation
The bus has the features of a large quality and high center of mass, which is prone to a loss of stability under extreme conditions, such as emergency steering
Traditional safety control technology is no longer able to meet the realistic requirements of a distributed drive electric bus
Summary
The distributed driving electric bus play a significant role in urban public transportation. The bus has the features of a large quality and high center of mass, which is prone to a loss of stability under extreme conditions, such as emergency steering. If this instability cannot be effectively controlled, serious traffic accidents will occur. Traditional safety control technology is no longer able to meet the realistic requirements of a distributed drive electric bus. As an active control method, the function of direct yaw moment control (DYC) of the yaw stability of a bus under extreme conditions has attracted increasingly more attention [2,3]
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