关键词: 分布式驱动电动汽车, 垂向载荷转移, 轮胎附着裕度, 分层式控制结构, 硬件在环

Abstract: By analyzing the influence mechanism of vertical load transfer of wheels on tire adhesion margin, this paper develops a direct yaw moment control strategy to give full play to the vehicle ultimate adhesion driving ability. A hierarchical control structure is adopted. The upper layer is the decision-making layer of the additional yaw moment. The model predictive control algorithm is used to solve the required additional yaw moment. The lower layer is the optimal distribution layer of the four-wheel torque, and the additional yaw moment obtained from the upper layer is optimally distributed to each wheel to correct the body attitude. Through the joint simulation test of Matlab/Simulink and CarSim and a hardware-in-the-loop experiment based on a dSPACE LabBox driving simulator bench, the rationality of the torque distribution mode and the effectiveness of the control strategy are verified. The experimental results show that the strategy effectively improves adhesion of each wheel, and improves the vehicle ultimate driving ability and adhesion stability.