The Direct Yaw Moment Control Of Distributed Electric Vehicle

In today's society,environmental problems and energy crisis are becoming more and more serious.The traditional internal combustion engine vehicle not only intensifies the consumption of oil resources,but also causes the global temperature rise due to its exhaust gas.It has not been able to adapt to the current trend of social development,and the electric vehicle emerges with the trend.The distributed pure electric vehicle has eliminated the traditional mechanical transmission device,and the transmission efficiency is more efficient.However,because each wheel can be driven and controlled independently,the control mode of the distributed pure electric vehicle is more diverse,and the control difficulty of the vehicle is increased.Direct yaw moment control is one of the effective methods of vehicle stability control.In this paper,the direct yaw moment of the distributed pure electric vehicle is studied to ensure that the vehicle can drive stably even under the limit condition.The sideslip angle and yaw rate of the vehicle are usually used as the state parameters to represent the driving stability of the vehicle.It is necessary to establish a simplified two degree of freedom model of the vehicle to solve the ideal value of the state parameters.In order to improve the observation accuracy,this paper constructs a weighted fusion particle filter observer.This paper establishs direct yaw moment controller.The upper controller adopts the sliding mode variable structure control algorithm,so that the vehicle driving state parameters can follow the target value,and determine the yaw moment required for the stable driving of the vehicle under the current driving condition.Based on the judgment of the driving state of the vehicle,considering the road adhesion utilization rate of the tire and the output characteristics of the motor,the lower controller uses the action set to optimize the distribution of the direct yaw moment.In order to verify the effectiveness of the direct yaw moment control strategy in this paper,Matlab/Simulink and Car Sim are used for joint simulation.This paper build the whole vehicle model in Car Sim and permanentmagnet synchronous motor model in Simulink.A weighted fusion particle filter observer is established,and the results show that the observer can observe the driving state parameters well.The direct yaw moment controller is established in Simulink,and the results show that the vehicle with direct yaw moment control can drive stably on the good road surface or under the limit condition.