Based On The Torque Distribution Corrdinated Control Of Wheel Drive Vehicle Handling Stability Study

The traditional car will bring a series of energy and environmental problems,so the electric car to use electricity to drive the car.Compared to the fossil fuel production capacity,electricity is more easy to get,and more environmentally friendly,so that Electric cars are getting more and more people's attention.The wheel drive car's unique advantage will be an important direction for future electric car research.In this paper,the National Natural Science Foundation of China(Grant No.51575001),"Research on Vertical Electromechanical-coupling Vibration Mechanism and Its Suppression Method of Electric Vehicle Driven by in-wheel Motor"as the basis,the steering stability of the vehicle is carried out on the basis of the coordinated control of the wheel-driven electric vehicle Research,the main research work is as follows:(1)Based on MATLAB/Simulink software,the dynamic simulation model of the wheel drive electric vehicle is established and based on the basic principle of the dynamic system of the automobile system.Due to the non-linear factors of the tire,this paper uses the "magic formula" tire model,and through the establishment of tire model,body dynamics model and other models,connecting the tires and the car body to create a complete vehicle model.(2)This paper analyzes two important characteristics of vehicle stability,which is the analysis of the lateral Angle of the center of mass and the angular velocity of transverse pendulum,and establishes the two degree of freedom model.This paper analyzes the ideal yawing angular velocity and mass center side-slip Angle influence on the stability,the vehicles running under steady state yawing angular velocity step response,the center of mass of side-slip angle step response and step response acceleration is analyzed.(3)Proposed a hierarchical structure based on the torque distribution vehicle handling stability control strategy.The hierarchical control algorithm is a fuzzy control algorithm.The upper controller controls the yaw moment by controlling the target yaw rate and the centroid side angle.The lower controller generates the required torque by controlling the hub motor.(4)Simulation analysis of vehicle handling stability under the three conditions of steering step input,sine wave input and triangular wave avoidance input is carried out by inputting different speed and comparing with ideal value.Under different working conditions,Driving stability,using hierarchical control results to verify whether the control strategy is valid.