重庆理工大学学报2025，Vol.39Issue(21)：39-45,7.DOI:10.3969/j.issn.1674-8425(z).2025.11.005
分布式驱动电动汽车行驶稳定性控制
Driving stability control for electric vehicles with distributed drive
摘要
Abstract
To improve the driving stability of distributed-drive electric vehicles during steering,a hierarchical control strategy is designed,in which a lateral-acceleration-based inspection module is introduced.The upper layer adopts the sliding-mode yam moment-based control to determine the additional yam moment required by the vehicle;the lower layer is the torque distribution layer,which allocates the additional yam moments obtained from the intermediate layer to each wheel based on the vertical tire load,there by maintaining the stability of the vehicle's steering driving.The evaluation module applies the G-vector control(GVC)control method to correct the driving torque based on the lateral acceleration information of the vehicle.The proposed strategy is validated using Matlab/Simulink with Co-CarSim simulation software and combined with HIL(hardware-in-the-loop experiment)experiments.The HIL results show,the G-vector hierarchical control strategy reduces the peak centre-of-mass lateral deflection angle by 63.3％and 41.2％,and the peak traverse angular velocity by 28.2％and 42.7％for the double-shift and serpentine conditions compared with the direct yam moment control.It improves vehicles' driving stability during steering and enhances their safe driving capability.关键词
分布式驱动电动汽车/G-向量控制/分层控制/行驶稳定性Key words
distributed drive electric vehicles/G-vector control/hierarchical control/ride stability分类
交通工程引用本文复制引用
LIU Wenguang,DU Shuaikang,HE Ren,DING Bei,CHE Huajun,LIU Xi..分布式驱动电动汽车行驶稳定性控制[J].重庆理工大学学报,2025,39(21):39-45,7.基金项目
国家重点研发计划项目(2019YFB1600500) （2019YFB1600500）
