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International Journal of Automotive Technology > Volume 22(5); 2021 > Article
International Journal of Automotive Technology 2021;22(5): 1169-1188.
HIERARCHICAL CONTROL OF YAW STABILITY AND ENERGY EFFICIENCY FOR DISTRIBUTED DRIVE ELECTRIC VEHICLES
Jing Changqing, Shu Hongyu, Song Yitong, Guo Cheng
Chongqing University
PDF Links Corresponding Author.  Shu Hongyu , Email. shycqu@cqu.edu.cn
ABSTRACT
A dual-layer energy-efficient control strategy is proposed for distributed drive electric vehicles to reduce energy consumption during cornering maneuvers and improve vehicle stability. The hierarchical control strategy consists of two energy-saving schemes. The first-layer energy-efficient scheme combines an active front steering (AFS) system and direct yaw moment control (DYC) to improve vehicle stability and reduce total energy consumption. An extended Kalman filter observer is proposed to estimate lateral forces and side-slip angle. The second-layer energy-efficient scheme adopts a multiobjective driving/braking torque allocation algorithm to achieve minimum energy consumption while maintaining vehicle stability. A friction ellipse constraint and an actuator constraint are considered. Furthermore, the effect of the actuator restraint on the vehicle’s yaw stability in a high-speed cornering maneuver is studied. Finally, the proposed control strategy is evaluated in MATLAB and the CarSim platform. The results demonstrate that the actuator constraint has a great influence on vehicle stability during high-speed cornering maneuvers. In addition, compared with a conventional control strategy, the dual-layer energy-efficient control strategy can reduce energy consumption by 29.5 % and 28.8 % for the dual lane change maneuver and high-speed snake steering maneuver, respectively. The proposed control strategy can effectively enhance the vehicle’s handing performance during high-speed cornering maneuvers.
Key Words: Vehicle stability, Torque distribution, Active front steering, Distributed drive electric vehicles
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