A study on lateral stability control of distributed drive electric vehicle based on fast adaptive super-twisting sliding mode control

Abstract

Aiming at the vehicle stability control problem under the extreme conditions of the vehicle, the distributed drive electric vehicle (DDEV) is taken as the study object, and the lateral stability control method of the vehicle is designed according to the stable state of the vehicle. Firstly, the side slip angle-side slip angle rate phase portrait is used as the vehicle stability judgment basis and the stability control region is developed. Secondly, different control strategies are formulated according to different vehicle states, and a stability control method relying on the combination of the center yaw moment of the vehicle’s front axle and the center of mass yaw moment is proposed. The controller based on this method has a hierarchical structure, in which the upper controller calculates the additional yaw moment required for the vehicle to maintain stability based on the vehicle state, and the lower controller assigns the desired yaw moment to the optimal drive torque of each wheel. Finally, the joint simulation of MATLAB/Simulink and Carsim shows that the combination of direct yaw moment control (CDYC) method has a strong body attitude correction capability under extreme conditions and can significantly improve the vehicle stability.