农业装备与车辆工程2025，Vol.63Issue(5)：37-43,7.DOI:10.3969/j.issn.1673-3142.2025.05.006
基于ISMC的四轮毂驱动电动汽车横摆稳定性控制
Yaw stability control of four-wheel hub-driven electric vehicles based on ISMC
摘要
Abstract
To improve the yaw stability of four-wheel hub-driven electric vehicles under extreme driving conditions,a yaw stability two-layer control strategy based on integral sliding mode control was proposed.The upper-level controller was designed to obtain the additional yaw moment required to maintain vehicle stability based on the integral sliding mode control to track the expected values,which were determined by a two degree of freedom vehicle model with the consideration of road adhesion restriction.Meanwhile,the total required longitudinal moment was obtained by employing PID control.The lower-level controller was designed to reasonably distribute the four wheel torque using axle load proportional distribution,and satisfying the additional yaw moment and total required longitudinal moment.Simulation tests were conducted on the MATLAB/Simulink and CarSim co-simulation platform for high and low road adhesion conditions.The results demonstrated that the proposed control strategy could track the expected value well,with a root mean square error of 0.65 deg/s for yaw rate tracking on low adhesion road,effectively enhancing vehicle stability under extreme driving conditions.关键词
四轮毂驱动电动汽车/直接横摆力矩控制/积分滑模变结构控制/转矩分配Key words
four-wheel hub-driven electric vehicles/direct yaw moment control/integral sliding mode control/torque distribution分类
交通工程引用本文复制引用
张一西,陈巍..基于ISMC的四轮毂驱动电动汽车横摆稳定性控制[J].农业装备与车辆工程,2025,63(5):37-43,7.基金项目
陕西省教育厅科研计划项目"面向极限行驶工况的分布式驱动电动汽车横摆稳定性控制研究"(23JK0493) （23JK0493）
汽车运输安全保障技术交通运输行业重点实验室(长安大学)开放基金资助项目"分布式驱动电动汽车纵横向运动协调控制策略研究"(300102223507) （长安大学）
陕西省自然科学基础研究计划项目"基于状态参数融合估计的分布式驱动电动汽车底盘协同控制研究"(2025JC-YBQN-726) （2025JC-YBQN-726）
