Research on Stability Control Strategy of Hub Motor Four-Wheel Drive Electric Vehicle

In order to improve the stability of the four-wheel drive electric vehicle for hub motor, the stability control strategy is studied in this paper. Based on the strategy of hierarchical control of vehicle yaw stability, the combination of yaw rate and center-of-gravity joint control strategy is proposed. This method sets the control weight value of yaw rate and centroid side angle, and changes the weight value of yaw rate and centroid side angle in real time with the size of the center of the center of mass center. The results show that the strategy has successfully improved the accuracy of stability control. The strategy consists two parts. The first part is the upper level controller: using the linear two degree of freedom vehicle model for reference. Using sliding mode variable structure to calculate the required steering yaw moment. The second part is the lower level controller: using the optimization-based distribution method to distribute the torque for each wheel. By simulation, the effectiveness of the control strategy has been verified.