Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (2): 397-405.doi: 10.13229/j.cnki.jdxbgxb20191037

   

Stability control strategy for rear in⁃wheel motor drive vehicle

Guo-ying CHEN1(),Jun YAO2,Peng WANG2,Qi-kun XIA2   

  1. 1.State Key Laboratory of Automobile Simulation and Control，Jilin University，Changchun 130022，China
    2.College of Automotive Engineering，Jilin University，Changchun 130022，China
  • Received:2019-11-10 Online:2021-03-01 Published:2021-02-09

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Abstract:

A stability controller based on layered structure is proposed for the rear in-wheel motor drive vehicle. In the upper controller， the reference vehicle is first used to calculate the ideal vehicle state， the linear quadratic regulator （LQR） controller is used to calculate the additional yaw moment required by the vehicle， and the variable weight is designed according to the stability state of the vehicle. Secondly， in order to obtain as much ground adhesion， a fuzzy controller is proposed to control the slip ratio of rear wheels. In the lower controller， the driving torque of the rear in-wheel motor is distributed according to the stability state of the vehicle. Finally， the effectiveness of the controller is verified by the hardware-in-the-loop test. The results show that， when the vehicle is in the stable domain， the stability controller proposed in this paper can control the yaw rate of the vehicle to quickly follow the ideal value and suppress the increase in the sideslip angle. When the vehicle is in an unstable state， it can control the vehicle to quickly return to the stable domain and suppress the side slip of the vehicle. Throughout the control process， the slip ratio of rear wheels is always controlled below the optimal slip ratio to ensure great adhesion.

Key words: vehicle engineering, in-wheel motor, stability control, linear quadratic regulator, slip ratio control, driving torque distribution

CLC Number: 

  • U461.6

Fig.1

Stability control framework"

Fig.2

Driving slip ratio fuzzy controller"

Fig.3

Braking slip ratio fuzzy controller"

Fig.4

In-wheel motor torque distribution"

Fig.5

VCU-in-the-loop test bench"

Fig.6

Fishhook condition test results"

Fig.7

Low adhesion instability test results"

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