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Outline
To address the stability challenges faced by four-wheel independent drive electric vehicles with hub motors under high-speed conditions, this study designs a non-singular adaptive sliding mode control architecture. The process begins by establishing a vehicle dynamics model, followed by designing a non-singular coefficient-type integral terminal sliding surface. An adaptive law is introduced to compensate for system uncertainties and external disturbances. The upper controller determines the required additional yaw moment based on stability boundaries to assess the vehicle's dynamic stability in real time. The lower controller aims to minimize road adhesion consumption and allocates the additional yaw moment to the four driving wheels via a torque distribution controller. Simulation studies based on the MATLAB/Simulink-CarSim platform under double-lane change and sinusoidal steering conditions demonstrate that, the proposed strategy exhibits smaller deviations in key performance aspects with yaw rate and sideslip angle as evaluation metrics. This not only indicates superior control effectiveness and robustness under external disturbances but also confirms its capability to meet the high-standard ride comfort control requirements of four-wheel independent drive autonomous vehicles.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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