In this paper, a 14-degree-of-freedom whole-vehicle model and a sliding-mode controller considering the suspension load transfer and dynamic characteristics are designed for the lateral stability control problem of a distributed drive vehicle, and the results of this lateral stability controller are analyzed. The upper layer calculates the target center-of-mass lateral deflection angle and the target transverse moment based on the 14-degree-of-freedom vehicle model; the lower layer calculates the target transverse moment based on the center-of-mass lateral deflection angle and the target transverse moment, so as to control the output torque of the wheel motor to improve the lateral stability of the vehicle. In order to verify the reliability and effectiveness of the vehicle model and controller, a joint simulation platform is built in this paper. The simulation results show that the designed distributed vehicle dynamics model can well reflect the lateral performance of the vehicle, and the lateral stability controller based on the sliding mode control has greatly improved the lateral stability of the vehicle and reduced the lateral displacement of the vehicle by 23%.
Lateral Stability Control of Four-Wheel-Drive Vehicle Based on Coordinated Control of Torque Distribution and Vehicle Dynamics
01.07.2022
3375672 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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