Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle

Zhenpo Wang, Yachao Wang, Lei Zhang, Mingchun Liu
2017 Energies  
In this paper, an optimal control strategy for a four-wheel-independently-actuated electric vehicle (FWIA EV) is proposed to improve vehicle dynamics stability and handling performance. The proposed scheme has a hierarchical structure composed of an upper and a lower controller. The desired longitudinal and lateral forces and yaw moment are determined based on the sliding-mode control (SMC) scheme in the upper controller, which takes the longitudinal and lateral velocity and the yaw rate as
more » ... the yaw rate as control variables. In the lower controller, an optimization algorithm is adopted to allocate the driving/braking torques to each in-wheel motor. A cost function with adjustable weight coefficients is specially designed by taking the motor power capability and the tire workload into consideration. The simulation and hardware-in-loop experimental results show that the proposed control strategy exhibits superior performance in comparison to commonly-used rule-based control strategies, and has the capability of online implementation.
doi:10.3390/en10070947 fatcat:z5va4vb6ybbs5hsqa7rvjz4d7a