Handling and Stability Control of Four-wheel Drive Electric Vehicle under Combined Slip Conditions

doi:10.3901/JME.2021.08.205

Abstract

Abstract: A model predictive controller(MPC) considering combined slip conditions is designed to improve the handling and stability of four-wheel drive electric vehicles. Firstly, the UniTire model is simplified and deduced, and the analytical expressions of the combined UniTire model which can be used for the controller design are obtained. Secondly, based on the analysis of the tire slip angle phase plane, a new vehicle stability evaluation standard is proposed. The vehicle stability can be judged by the distance from the position of the front and rear tire slip angles to the coordinate origin, and the quantitative stability index can be obtained. Then, the MPC structure is used to take the vehicle handling control, stability control and four-wheel slip ratio constrains as the objective function. Combined UniTire model and the double-track vehicle model are used as the prediction model, and the weight of each objective is adjusted in real time through the stability index and tire slip ratio to achieve the optimal control effect. Finally, the algorithm is verified by Simulink-CarSim simulation and hardware in the loop(HiL) test. The results show that the controller can dynamically adjust the tracking weight according to the vehicle stability index, and improve the handling and stability of the vehicle. Due to the application of the combined UniTire model, the four-wheel torque decided by the controller under the harsh condition is smaller, which effectively inhibits the increase of tire slip ratio.

Key words: four-wheel drive electric vehicle, combined UniTire model, stability index, model predictive control, tire slip angle phase plane, hardware in the loop test

CLC Number:

U461

XU Nan, LI Xiaoyu. Handling and Stability Control of Four-wheel Drive Electric Vehicle under Combined Slip Conditions[J]. Journal of Mechanical Engineering, 2021, 57(8): 205-220.

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