Algorithm on delaminated control of stability and optimized distribution of wheel force for 4WD/WS electric vehicle
                                                   MENG Teng fei, TIAN Jin yue, ZHENG Shi qian
                          （School of Automotive and Traffic Engineering, University of Jiangsu, Zhenjiang 212000, China）


Abstract: Aiming at solving the problems of decoupling and tire force optimization in the analysis of vehicle stability analysis, the research of four wheel independent drive / steering electric vehicle was conducted, a hierarchical integrated control algorithm was proposed. In the upper torque control layer, the ideal linear vehicle model output was used as the control target, and the sliding mode control algorithm was applied to determine the total longitudinal force, lateral force and yaw moment which were required to stabilize the vehicle. The lower torque distribution layer was designed with a weighted objective function, taking full account of the tire force and making sure that the steering angle and driving torque of the four wheels were taken as eight independent control variables so as to convert the total control force required for body motion into the specific value of the control variable as the output of the integrated controller under the premise that each wheel was operated in a stable area. The low attached road surface were applied to carry on the Carsim/Simulink joint simulation experiment. The results indicate that the hierarchical integrated control algorithm can greatly follow the driver s intention to ensure that the vehicle is stable.
Key words: 4WD / WS electric vehicle; tire force; vehicle stability; hierarchy control algorithm