轮毂电机驱动汽车横摆-侧倾稳定性联合控制

In order to improve the space stability of electric vehicle, a synergetic control was proposed for the yaw-roll motion control based on in-wheel motors and active suspensions. Firstly, analyzing the influence of in-wheel motors differential drive combined with active suspensions control on the yaw-roll motion of the vehicle body, a space stability control strategy was established. Then, taking the yaw rate and the slip angle as state variables, the yaw stability controller based on reference model was designed. Taking the steering wheel angle and lateral acceleration as the state variables, a feedforward controller based on roll restraining of the active suspension was designed. Taking the roll rate and roll angle as state variables, the roll stability controller based on feedback optimal control was designed. Finally, the four-wheel drive torque and active suspension force/torque coordination allocation rules were established, and the effectiveness of control strategies was verified by co-simulation. The research results show that, the differential driving of in-wheel motors can provide yaw stability control and roll assist control capability. Combined with the active suspension control, in-wheel motors driving can improve the vehicle yaw-roll motion state and greatly improve the space stability.