Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

Songlin Yang, Jingan Feng and Bao Song
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Songlin Yang: School of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832000, China
Jingan Feng: School of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832000, China
Bao Song: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

Energies, 2021, vol. 14, issue 18, 1-25

Abstract: The optimal control strategy for the decoupling of drive torque is proposed for the problems of runaway and driving stability in straight-line driving of electric vehicles driven by four-wheel hub motors. The strategy uses a hierarchical control logic, with the upper control logic layer being responsible for additional transverse moment calculation and driving anti-slip control; the middle control logic layer is responsible for the spatial motion decoupling for the underlying coordinated distribution of the four-wheel drive torque, on the basis of which the drive anti-skid control of a wheel motor-driven electric vehicle that takes into account the transverse motion of the whole vehicle is realized; the lower control logic layer is responsible for the optimal distribution of the driving torque of the vehicle speed following control. Based on the vehicle dynamics software Carsim2019.0 and MATLAB/Simulink, a simulation model of a four-wheel hub motor-driven electric vehicle control system was built and simulated under typical operating conditions such as high coefficient of adhesion, low coefficient of adhesion and opposing road surfaces. The research shows that the wheel motor drive has the ability to control the stability of the whole vehicle with large intensity that the conventional half-axle drive does not have. Using the proposed joint decoupling control of the transverse pendulum motion and slip rate as well as the optimal distribution of the drive force with speed following, the transverse pendulum angular speed and slip rate can be effectively controlled with the premise of ensuring the vehicle speed, thus greatly improving the straight-line driving stability of the vehicle.

Keywords: hub motor; electric vehicles; straight-line driving stability; movement decoupling; optimal control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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