基于多参数控制的分布式驱动电动汽车操纵稳定性控制策略研究

In order to enhance the vehicle dynamics performance under high speed and low adhesion road conditions，a multi-parameter-control-based handling stability control strategy for distributed drive electric vehicle （DDEV）is proposed in this paper，which incorporates both an upper trajectory tracking controller and a lower torque distribution controller. In the upper controller，a model predictive control（MPC）trajectory tracking control⁃ ler based on the 2-DOF reference model of DDEV and driver preview error model is developed，enabling multi-pa⁃ rameter control of lateral displacement deviation，yaw angle deviation，sideslip angle，and yaw rate. The lower con⁃ troller is responsible for optimal torque allocation for the four-wheel motors，taking minimizing tire load rate as the optimization target. Based on the 7-DOF dynamics model，experimental verification is conducted on the CarSim-Simulink joint simulation platform under double line change and snake shape conditions. The results show that the proposed control strategy effectively improves the handling stability performance and trajectory tracking accuracy of DDEVs under high speed and low adhesion road conditions.