Lateral stability region conservativeness estimation and torque distribution for FWIA electric vehicle steering

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• 作者：GuoDong Yin (1) (2)
  XianJian Jin (1)
  ZhiYong Qing (1)
  ChenTong Bian (1)
  
  1. School of Mechanical Engineering ; Southeast University ; Nanjing ; 211189 ; China
  2. State Key Laboratory of Automotive Safety and Energy ; Tsinghua University ; Beijing ; 100084 ; China
  
• 关键词：four ; wheel independently actuated electric vehicle ; torque distribution ; vehicle steering ; stability region estimation
• 刊名：SCIENCE CHINA Technological Sciences
• 出版年：2015
• 出版时间：April 2015
• 年：2015
• 卷：58
• 期：4
• 页码：669-676
• 全文大小：598 KB
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• 刊物类别：Engineering
• 刊物主题：Chinese Library of Science
  Engineering, general
  
• 出版者：Science China Press, co-published with Springer
• ISSN：1869-1900

文摘

Estimation of the lateral stability region and torque distribution on steering is very important to improve stability in lateral handling for all wheel drive electric vehicles. Based on the built-nonlinear vehicle dynamic model, the lateral stability region of the vehicle related to steering is estimated using Lyapunov function. We obtained stable equilibrium points of non-straight driving according to the estimated lateral stability region and also reconstructed the Lyapunov function matrix, which proved that the closed-loop system composed of yaw rate and lateral velocity is satisfied with negative definite property. In addition, the designed controller dynamically allocates the drive torque in terms of the vertical load and slip rate of the four wheels. The simulation results show that the estimated lateral stability region and the designed controller are satisfactory in handling stability performance against different roads and vehicle parameters.