Research on sliding mode coordinated control of yaw stability of distributed drive electric wheel vehicle

In view of the characteristics of independently controllable torque of each wheel of a distributed drive electric wheel vehicle and rapid adjustment speed, this paper studies the stability control problem during its driving. Using vehicle dynamics theory, the vehicle stability evaluation parameters yaw angular velocity and center of mass slip angle are selected as control variables, and considering their error change rates, a yaw moment sliding mode controller is designed, using coordination to eliminate the coupling influence of the two control variables. The control strategy generates the yaw moment required to maintain the stable driving of the vehicle and effectively distributes it to the four drive wheels. The CarSim-Simulink simulation test platform was used to verify the designed control strategy by taking typical angular step test conditions as an example. The results show that the adopted sliding mode coordinated control strategy can significantly improve the stability and safety of distributed drive electric wheel vehicles.