江苏大学学报（自然科学版）2026，Vol.47Issue(5)：506-516,11.DOI:10.3969/j.issn.1671-7775.2026.05.002
分布式驱动车辆的主动后轮转向与直接横摆力矩协调控制
Coordinated control of active rear wheel steering and direct yaw moment for distributed drive vehicles
摘要
Abstract
To solve the instability issue of distributed drive vehicles running on high-speed and low-adhesion road surfaces,the joint coordinated control strategy for active rear steering and direct yaw moment control was developed.In the proposed scheme,the hierarchical control architecture was adopted.The phase plane method was used to define the vehicle stability region,and the yaw rate threshold method was applied to supplement the stability judgment criteria.By the upper-layer coordination controller,the control weights for the two subsystems were dynamically distributed according to the stability region,while in the lower-layer controller,the linear quadratic regulator was utilized to realize the rear wheel steering angle control.When the vehicle was detected to be on the verge of instability,the super-twisting sliding mode control was adopted to calculate the required additional yaw moment.With the tire load ratio as constraint,the quadratic programming algorithm was employed to achieve optimal four-wheel torque distribution and implement direct yaw moment control.The simulations were conducted under two typical operating conditions of medium-high speed on icy road surfaces and high speed on wet cement road surfaces.The experimental results verify that the proposed coordinated control strategy can remarkably improve the vehicle maneuverability and driving stability and effectively reduce the risk of vehicle instability.关键词
分布式驱动车辆/主动后轮转向/直接横摆力矩/分层控制架构/转矩分配/滑模控制/操纵稳定性Key words
distributed drive vehicle/active rear wheel steering/direct yaw moment/hierarchical control architecture/torque distribution/sliding mode control/handling stability分类
交通工程引用本文复制引用
胡杰,王鹏飞,张佩,刘玉婷..分布式驱动车辆的主动后轮转向与直接横摆力矩协调控制[J].江苏大学学报（自然科学版）,2026,47(5):506-516,11.基金项目
湖北省重点研发计划项目(2022BAA076) （2022BAA076）
湖北隆中实验室自主创新研究项目(2022ZZ-21) （2022ZZ-21）
广西科技重大专项项目(2023AA05001) （2023AA05001）
