A stable drift control for distributed drive electric vehicles

Ruiming Guo; Dejun Yin; Zhikun Liu

doi:10.1117/12.2652409

10 November 2022 A stable drift control for distributed drive electric vehicles

Ruiming Guo, Dejun Yin, Zhikun Liu

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123313W (2022) https://doi.org/10.1117/12.2652409
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

In order to improve the stability of distributed drive electric vehicle under extreme conditions, a stable drift control method based on longitudinal force distribution was proposed in this paper. Firstly, A 7-DOF vehicle model, front and rear tire models are established considering the drift motion under extreme conditions. Secondly, the tire longitudinal force was allocated according to the ratio of vertical force, and the drift balance was analyzed. Then, the Linear Quadratic Regulator(LQR) is used to design the stable drift controller. Finally, based on the hardware-in-the-loop experimental platform, the reliability of the algorithm is verified. The experimental results show that the stable drift control algorithm can keep the vehicle stable under the condition of large sideslip angle, improve the stability of the vehicle in the limit conditions, and verify the real-time performance and effectiveness of the algorithm.

Citation Download Citation

Ruiming Guo, Dejun Yin, and Zhikun Liu "A stable drift control for distributed drive electric vehicles", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123313W (10 November 2022); https://doi.org/10.1117/12.2652409

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