四轮轮毂电机驱动电动汽车纵侧向稳定性协调控制策略研究

A coordination stability control strategy is proposed for four-wheel-independent-actuated electric vehicles in the combined acceleration and cornering maneuver on roads with limited adhesion. An acceleration slip regulation(ASR) strategy robust to unknown road friction conditions is first developed, which can track the optimum wheel slip ratio based on sliding model control(SMC) algorithm. Then, a coordination stability control strategy is proposed to simultaneously enhance vehicle lateral and longitudinal stability. The acceleration intention of the driver, the lateral stability control objective and the wheel slip control constraints are accounted for. Simulation results in CarSim-Simulink verify the effectiveness of the proposed ASR scheme in a diverse variety of road friction conditions, and the vehicle lateral and longitudinal stability can be significantly improved under the proposed coordination stability control scheme, compared to the state-of-the-art direct yaw moment control(DYC).