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To improve the yaw stability of distributed drive electric vehicles, this paper proposes a yaw stability layered control strategy while considering longitudinal vehicle speed control. For the upper controller, the yaw moment controller is designed based on the sliding mode control principle. Additional yaw moments are obtained by tracking the expected yaw velocity and the sideslip angle respectively, while the total additional yaw moment is obtained by weighted calculation according to vehicle state. The lower controller chooses the tire load rate as the optimization objective function to allocate the torque of each wheel. Finally, a co-simulation model is established by CarSim and Simulink, and two working conditions of double shift line and angular step input are selected for simulation verification. The results demonstrate that the proposed layered control strategy can make the actual yaw velocity and sideslip angle of the vehicle better track the expected value, and effectively enhances vehicle stability.

, authors=Yong Tan, Yuying Qin, authorsList=Yong Tan, Yuying Qin, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1308463116250009782, articleId=1308463115830579380, tenantId=1146029695717560320, journalId=1189918454225211397, language=CN, title=分布式驱动电动汽车横摆稳定性控制, columnId=0, journalTitle=汽车工程师, columnName=, runingTitle=null, highlight=null, articleAbstract=

为提高分布式驱动电动汽车的横向稳定性，在考虑纵向车速控制的同时提出一种横摆稳定性分层控制策略。上层控制器基于滑模控制原理设计横摆力矩控制器，分别跟踪期望横摆角速度和质心侧偏角获得相应附加横摆力矩，并根据车辆所处状态加权计算获得总附加横摆力矩；下层控制器选取轮胎负荷率作为优化目标函数分配各轮转矩。最后，利用CarSim与Simulink建立联合仿真模型，选取双移线和角阶跃工况进行仿真验证，结果表明，所提出的分层控制策略能够使车辆的实际横摆角速度和质心侧偏角较好地跟踪期望值，有效提升了车辆的稳定性。

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