Stability Control Based on ElectricHydraulic Allocation for Distributed Drive Electric Vehicles

Abstract:

Based on the characteristic of distributed drive electric vehicles that the torque of motors and hydraulic brake system can be controlled, an algorithm combing motors and hydraulic system was proposed with the aim of stability control. The algorithm used a hierarchical control structure. The upper layer calculates the generalized force based on the driver input and vehicle state. Under the constraint of actuators and speed and the influence of tire coupling characteristic, the lower layer takes quadratic programming method to optimize torque allocation. Finally the algorithm was simulated on CARSIM and MATLAB platform and verified by vehicle tests. The results of simulations and tests show that the algorithm can improve the stability. And the control result of the algorithm of motors and hydraulic brake system is better than that of motors.