<scp>MPC</scp>‐Based Stability Control Algorithm for H‐Type Distributed‐Drive Electric Vehicles Considering Steering Energy Saving

ABSTRACT An “H‐type” distributed electric‐drive system is a special configuration with a compact structure and excellent trafficability. However, the endurance and stability of these vehicles are still being tested, particularly under harsh driving conditions. Therefore, in this study, a torque‐distribution control algorithm based on minimizing comprehensive energy consumption was designed by considering its unique driving configuration. Moreover, to achieve excellent stability control for this specific vehicle configuration, characteristics of nonlinear components such as tires must be taken into account. Based on the mathematical characteristics of this nonlinear system, an improved hierarchical control model predictive control (HC‐MPC) algorithm was designed to improve stability. The energy‐saving and stability‐control algorithms were integrated according to the improved phase‐plane stability criterion method. The offline simulation test results demonstrated that the HC‐MPC strategy reduced the maximum side‐slip angle of the mass center by 26.05% compared with the hierarchical control proportional‐integral‐derivative strategy. Furthermore, the integrated control algorithm achieved 2.11% energy savings during the steering process, while maintaining a stability‐control performance comparable to that of the HC‐MPC algorithm. Finally, hardware‐in‐the‐loop testing was conducted by addressing real‐time issues. The test results indicate that the integrated control algorithm effectively satisfies the high demands for stability, range, and compatibility of “H‐type” distributed‐drive electric vehicles (EVs), further promoting the development of high‐quality EVs.