Dynamic Control for Four-Wheel Independent Drive Electric Vehicle
Due to the superiority of structure, four wheel independent drive electric vehicle (4WID EV) provides great potential for direct yaw control. In the process of driving, its very necessary to detect and suppress the tire skid in real time. In order to suppress the tire skid and achieve reasonable torque allocation, a novel method is proposed to detect the tire state and determine the constraints of torque allocation. ADAMS/Car was used to establish vehicle model for dynamic simulation. Vehicles ramp steering on the good road and on the road with split adhesion coefficient was simulated respectively, when the initial velocity of vehicle is 60km/h and the slop of ramp steering is 15deg/s. Lateral acceleration, slip angle and yaw rate for the two different roads were studied comparatively. Lateral acceleration, yaw rate and slip angle can be controlled well by independent torque control based on the constraints of torque allocation, which makes it possible for vehicle to move along the objective trajectory.
electric vehicle ADAMS/Car 4WID direct yaw control
Qingsong Li Zheng Zhang Weijun Zhao
School of Mechanical Engineering, Xian Jiaotong University, Xian, 710049, China Key Laboratory of School of Mechanical Engineering, Xian Jiaotong University, Xian, 710049, China
国际会议
杭州
英文
252-256
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）