关键词: 轮内电动汽车, 直接横摆力矩控制, 自适应鲁棒滑模, 行驶稳定性

Abstract:

ing at the influence of nonlinear factors such as parameter change and uncertainty disturbance on vehicle stability, a strategy based on adaptive robust sliding mode(ARSM) control was designed to ensure that the in-wheel electric vehicle can still guarantee the vehicle driving stability under the interference of the above uncertain factors.A two-degree-of-freedom vehicle model and driving motor model were built, an adaptive robust sliding mode control law wqs designed, advanced vehicle dynamics simulation software Carsim was used to simulate the control strategy. The results show that the algorithm can effectively achieve direct yaw moment control, so that the vehicle maintains driving stability under the influence of large lateral wind.

Key words: in-wheel electric vehicle (IEV), direct yaw moment control (DYC), adaptive robust sliding mode, driving stability