关键词: 分布式驱动电动汽车, 四轮转向, 横摆力矩, 集成控制, 联合仿真

Abstract: Aiming at the stability control of distributed drive electric vehicles with four-wheel independent drive and independent steering, this paper proposes an integrated control strategy of four-wheel steering and yaw moment. Based on the fuzzy theory, it designs the upper controller by adopting the hierarchical control structure. Then, it calculates the additional rear wheel angle and the additional yaw moment according to the expected yaw velocity and the deviation between the desired yaw angle of the center of mass and the actual value. The lower controller includes a four-wheel angle controller a four-wheel moment distributor. The additional rear wheel angle controller adopts proportional feedforward plus fuzzy feedback or Ackerman steering respectively to control the additional rear wheel angle according to the steering wheel angle and the vehicle speed. In accordance with the additional yaw moment demand, the four-wheel moment distributor uses quadratic programming algorithm to optimize the four-wheel moment allocation. By selecting typical experimental conditions, this paper verifies the integrated control strategy of rear-wheel steering and yaw moment through co-simulation experiments. The results show that the integrated control strategy can effectively improve the stability of distributed drive electric vehicles.