分布式电驱动角模块车辆横摆稳定性鲁棒协同控制

doi:10.19562/j.chinasae.qcgc.2025.11.015

Abstract

Abstract:

Under extreme scenarios such as emergency obstacle avoidance or sharp turns， vehicles may experience yaw instability. Distributed corner module vehicles， equipped with independent four-wheel drive （4WID） and independent four-wheel steering （4WIS）， offer high mobility advantages. However， the elimination of physical constraints between wheels increases the risk of yaw instability under extreme conditions. To enhance the yaw stability of corner module vehicles in such scenarios， in this paper a constraint-based yaw stability control strategy is proposed. An adaptive robust direct yaw moment control （ARC） driven by embedded equality constraints is designed， along with a longitudinal speed control mechanism. Additionally， an active rear steering （ARS） control strategy satisfying the steady-state cornering equality constraint is developed. By integrating a four-wheel torque optimization strategy， the proposed ARC+ARS cooperative control mechanism effectively improves the yaw stability of corner module vehicles under extreme conditions. The co-simulation results show that in a high-speed， high-adhesion double lane change scenario， the proposed control strategy reduces the root mean square （RMS） of yaw rate error and centroid sideslip angle by at least 53.1% and 15.3%， respectively. In a medium-speed， low-adhesion scenario， the reduction reaches at least 77.5% and 15.2%， respectively， with strong robustness in dealing with the systematic uncertainties and external disturbances.

Key words: wheel corner module vehicles, yaw stability, direct yaw moment control, active rear steering, coordinated control

Xinrong Zhang,Yudong Zhang,Xingyu Li,Yanzhao Su,Haoyu Wang,Jin Huang. Robust Coordinated Yaw Stability Control for Distributed Electric Drive Wheel Corner Module Vehicle[J].Automotive Engineering, 2025, 47(11): 2212-2223.

Figures/Tables 8

References 27

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参数	数值	参数	数值
m/kg	1 501	I_z /（kg·m²）	1 536.7
l_f/m	1.015	l_r/m	1.895
C_f/（N·rad^-1）	-110 000	C_r/（N·rad^-1）	-90 000
C_d	0.39	f	0.015
R_t/m	0.325	A/m²	2.2
B_t/m	1.675	h_g/m	0.54

控制策略	横摆角速度误差		质心侧偏角
控制策略	绝对值最大值/（rad·s^-1）	均方根/ （rad·s^-1）	绝对值最大值/rad	均方根/rad
SMC	0.040 84	0.011 58	0.043 83	0.015 35
ARC	0.022 55	0.006 89	0.029 80	0.010 97
SMC+ARS	0.035 09	0.010 18	0.038 55	0.015 06
ARC+ARS	0.011 31	0.003 23	0.025 71	0.009 29

控制策略	横摆角速度误差		质心侧偏角
控制策略	绝对值最大值/（rad·s^-1）	均方根/（rad·s^-1）	绝对值最大值/rad	均方根/rad
SMC	0.053 77	0.014 93	0.051 42	0.012 43
ARC	0.029 53	0.007 69	0.032 68	0.007 86
SMC+ARS	0.055 63	0.015 64	0.015 09	0.004 75
ARC+ARS	0.010 97	0.001 73	0.012 13	0.004 03

Robust Coordinated Yaw Stability Control for Distributed Electric Drive Wheel Corner Module Vehicle

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