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| Simulation and experiment of integration control of ARS and DYC for electrical vehicle with fourwheelindependentdrive |
| 1.School of Automotive ＆ Transportation, Shenzhen Polytechnic, Shenzhen, Guangdong 518055, China; 2.School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong Universtiy, Beijing 100044, China; 3.College of Automotive ＆ Mechanical Engineering, Changsha University of Science ＆ Technology, Changsha, Hunan 410004, China |
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Abstract To improve the stability of fourwheelindependentdrive (4WID) and fourwheelindependentsteering (4WIS) electric vehicles, a novel integrated control strategy was proposed to combine active rearwheel steering (ARS) with direct yawmoment control (DYC). The advantage of horizontal control margin was used to decrease longitudinal control. To maintain the desired steering characteristics using control system, the variable steering ratio reference model was adopted. ARS controller and nonlinear DYC controller with sliding mode variable structure were adopted to compensate the inadequate control within the linear range of tire and improve the handling performance within the nonlinear range of tire. A real vehicle test was conducted based on double lanechange test. The results show that the integrated controller is superior to both ARS and DYC controllers to improve the handling stability of vehicles and reduce the need of yaw moment. The integrated controller can enhance the vehicle longitudinal stability margin and is effective.
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Received: 15 January 2016
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2016, Vol. 37 
