Direct Yaw-Moment Control of Electric Vehicle With in-Wheel Motor Drive System

With the development of redundant driving system, vehicles' maneuverability and stability have great optimized potential. In this research, an electric off-road vehicle is served as controlled objective and a dynamic direct yaw-moment controller is proposed to realize the smooth accommodation of vehicle longitudinal-lateral motion under various transport conditions via controlling In-wheel motor (IWM) drive system. A data fusion technology is employed to enhance the control accuracy and responsiveness via amending the metrical data of INS and GPS primarily, and the discrete measured information are transmitted to a unscented particle filter with fine resampling (UPF-FR) that estimates the sideslip angle and yaw rate synchronously. Then, a feedforward-feedback control system is constructed to improves the controlled vehicle's maneuverability and stability based on the calculated active yaw moment. It is noteworthy that a nonlinear finite time feedback control system is utilized to acquire minimum error between the actual vehicle status and the desired vehicle status. After that, the IWM drive system execute the active yaw moment through modulating every motor's alternate current independently. In the end, some specific simulation and real tests are conducted to verify the performance of hierarchical control system.