Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car
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Published:2024-04-24
Issue:5
Volume:15
Page:178
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ISSN:2032-6653
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Container-title:World Electric Vehicle Journal
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language:en
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Short-container-title:WEVJ
Author:
Liu Boju1, Li Gang1ORCID, Bai Hongfei1, Wang Shuang1, Zhang Xing1
Affiliation:
1. School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, China
Abstract
In order to improve the yaw stability of a front-wheel dual-motor-driven driverless vehicle, a yaw stability control strategy is proposed for a front-wheel dual-motor-driven formula student driverless racing car. A hierarchical control structure is adopted to design the upper torque distributor based on the integral sliding mode theory, which establishes a linear two-degree-of-freedom model of the racing car to calculate the expected yaw angular velocity and the expected side slip angle and calculates the additional yaw moments of the two front wheels. The lower layer is the torque distributor, which optimally distributes the additional moments to the motors of the two front wheels based on torque optimization objectives and torque distribution rules. Two typical test conditions were selected to carry out simulation experiments. The results show that the driverless formula racing car can track the expected yaw angular velocity and the expected side slip angle better after adding the yaw stability controller designed in this paper, effectively improving driving stability.
Funder
General Program of the Natural Science Foundation of Liaoning Province in 2022 Natural Science Foundation joint fund project
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