Handling and Stability Control of Distributed Drive Electric Vehicle Based on Phase Plane

This study investigates the coupling and interference effects between Active Front-Wheel Steering (AFS) and Direct Yaw Moment Control (DYC) in distributed drive electric vehicles. To enhance vehicle handling and stability, a coordinated control strategy for AFS and DYC is developed based on phase plane analysis. Utilizing fuzzy control theory, the phase plane is categorized into three distinct regions: a stable region, a coordinated control region, and an unstable region. To precisely compute the additional yaw moment required for stability enhancement, an adaptive sliding mode controller is designed. Furthermore, a joint sliding mode surface is formulated by considering the deviations between the actual and ideal yaw rate and sideslip angle. The weighting of the sliding mode surface is dynamically adjusted in real time using a stability index in conjunction with a cosine function. To optimally distribute the control effort between AFS and DYC, an improved simulated annealing particle swarm optimization algorithm is employed. The proposed control strategy is validated through simulations conducted on CarSim and Simulink platforms. The results demonstrate that the coordinated control system effectively enhances both vehicle handling and stability.