Taking the independently actuated in-wheel motor driven electric bus as the research object, an integrated control strategy of yaw stability and roll stability is proposed. On the basis of the upper and lower layered structure, the stability monitoring layer is added to the control strategy, which is responsible for calculating the desired value of the vehicle's critical state and determining the vehicle stability control mode. The upper controller is the yaw moment decision layer. To improve the robustness, the sliding mode control is used to calculate the additional yaw moment required for yaw and roll stability, and the Lyapunov method is used to prove the convergence of the algorithm. The lower controller is the torque distribution layer, which uses the active-set algorithm and combines the motor torque and the braking torque of the braking system to optimally distribute the yaw moment. The proposed control strategy is verified through the co-simulation platform of Trucksim and Simulink. The results show that the control strategy can coordinate the various control modes well, improve the tracking ability of the vehicle, and reduce the risk of side slip and rollover of the vehicle.
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This study is supported by The National Key Research and Development Program of China (Grant No. 2017YFB0103801).
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Wang, W., Zhang, W. & Zhao, Y. Integrated Stability Control Strategy of In-Wheel Motor Driven Electric Bus. Int.J Automot. Technol. 21, 919–929 (2020). https://doi.org/10.1007/s12239-020-0088-6
- In-wheel drive
- Electric bus
- Yaw stability
- Roll stability
- Torque allocation