Handling Stability Analysis And Control Research Of Distributed Drive Electric Vehicle

With the deterioration of the environment,energy crisis and frequent traffic accidents,the research and development of new energy electric vehicles is urgent.New energy electric vehicles can achieve small jitter,no pollution and zero emission in the process of driving.As a kind of new energy electric vehicle,distributed drive electric vehicle adopts four-wheel independent drive mode,which has the advantages of rapid response of driving and braking,and precise control of torque.Due to the advantages of distributed drive electric vehicle,the research on its power performance and handling stability has a higher room for improvement.This paper focuses on distributed drive electric vehicle as the object of research in order to improve the control stability of distributed drive electric vehicle,and makes in-depth research on the vehicle driving state parameter estimation and torque distribution control strategy.In this paper,with the support of Jiangxi Provincial Youth Youth Project,the handling stability and control of distributed drive electric vehicles are analyzed and studied.The main research contents and conclusions are as follows:(1)Firstly,the dynamics model of distributed drive electric vehicle was established by using CARSIM and Matlab/Simulink software,including motor model,tire model,driver model,etc.By setting the input and output interfaces of the CARSIM software,it matches the model established in Simulink to carry out the co-simulation.The simulation results show that the vehicle dynamics model of distributed drive electric vehicle has good dynamic response characteristics.(2)Secondly,aiming at the problem of vehicle handling stability,the influencing factors of handling stability of distributed drive electric vehicle are analyzed.This paper introduces the theory of vehicle stability,analyzes the factors leading to vehicle instability,and analyzes the evaluation index of vehicle stability.And through the simulation test of the established vehicle dynamics model,the influence of vehicle speed,road adhesion coefficient,center of mass position and other parameters on the vehicle handling stability is analyzed,which provides theoretical support for the control of vehicle handling stability.(3)Then,through the above analysis,the state parameter observer of distributed drive electric vehicle is designed.Through the theoretical analysis of the Kalman filter algorithm,an adaptive extended Kalman filter algorithm is determined as the observer’s calculation algorithm,and the vehicle’s centroid side slip angle and yaw rate are estimated through the state parameter observer.In addition,the simulation test of high-attached double-line shifting conditions,low attached double-line-shifting operating conditions,and snake-like operating conditions are carried out.The simulation results show that by comparing the actual value and the estimated value,the designed observer can be The driving state parameters are estimated to meet the design requirements of the observer.(4)Finally,torque distribution controller is designed for distributed drive electric car.The overall structure of the torque distribution controller is divided into two layers,among which the upper layer is motion tracking control,and the lower layer is torque distribution control,and the torque distribution algorithm is introduced.The experiment results show that the robustness of parameter estimation error of torque distribution method with constant lateral force is good,which can effectively improve the control stability of the vehicle.