Direct Yaw Moment Control for Distributed Drive Electric Vehicles Based on Hierarchical Optimization Control Framework

Author:

Hu Jie1234,Zhang Kefan123,Zhang Pei123ORCID,Yan Fuwu123

Affiliation:

1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China

2. Hubei Research Center for New Energy & Intelligent Connected Vehicle Engineering, Wuhan University of Technology, Wuhan 430070, China

3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China

4. Hubei Longzhong Laboratory, Wuhan University of Technology, Xiangyang 441000, China

Abstract

Direct yaw moment control (DYC) can effectively improve the yaw stability of four-wheel distributed drive electric vehicles (4W-DDEVs) under extreme conditions, which has become an indispensable part of active safety control for 4W-DDEVs. This study proposes a novel hierarchical DYC architecture for 4W-DDEVs to enhance vehicle stability during ever-changing road conditions. Firstly, a vehicle dynamics model is established, including a two-degree-of-freedom (2DOF) vehicle model for calculating the desired yaw rate and sideslip angle as the control target of the upper layer controller, a DDEV model composed of a seven-degree-of-freedom (7DOF) vehicle model, a tire model, a motor model and a driver model. Secondly, a hierarchical DYC is designed combining the upper layer yaw moment calculation and low layer torque distribution. Specifically, based on Matlab/Simulink, improved linear quadratic regulator (LQR) with weight matrix optimization based on inertia weight cosine-adjustment particle swarm optimization (IWCPSO) is employed to compute the required additional yaw moment in the upper-layer controller, while quadratic programming (QP) is used to allocate four motors’ torque with the optimization objective of minimizing the tire utilization rate. Finally, a comparative test with double-lane-change and sinusoidal conditions under a low and high adhesion road surface is conducted on Carsim and Matlab/Simulink joint simulation platform. With IWCPSO-LQR under double-lane-change (DLC) condition on a low adhesion road surface, the yaw rate and sideslip angle of the DDEV exhibits improvements of 95.2%, 96.8% in the integral sum of errors, 94.9%, 95.1% in the root mean squared error, and 78.8%, 98.5% in the peak value compared to those without control. Simulation results indicate the proposed hierarchical control method has a remarkable control effect on the yaw rate and sideslip angle, which effectively strengthens the driving stability of 4W-DDEVs.

Funder

Key R & D project of Hubei Province

Independent Innovation Projects of the Hubei Longzhong Laboratory

Guangxi Science and Technology Major Program

Publisher

MDPI AG

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