A Dynamics Coordinated Control System for 4WD-4WS Electric Vehicles

With the aggravation of energy crisis and environmental problems, new electric vehicle industry has ushered in vigorous development. However, with continuous increase car ownership, traffic accidents other issues have gradually attracted widespread attention. Some existing stability coordination control systems often such as single judgment method strong coupling between different subsystems. Therefore, based on previous research, it is necessary to further optimize judging vehicle’s state, establish clear rules, reasonably solve problem This great significance for promoting development industry. Due four-wheel-distributed driving steering vehicles having characteristics integrated driving, flexible steering, easy fault-tolerant control, unique advantages improving a good carrier designing constructing system. In this paper, (4WD-4WS) are taken research object, coordinated strategy four-wheel drive proposed. Firstly, order realize accurate stability, two-degree-of-freedom two-track model magic tire model, paper uses phase plane law divide region introduces quantification index PPS-region evaluation stability. Secondly, fuzzy variable parameter active rear-wheel controller compensated yaw moment designed. Then, two controllers, rule proposed region. Finally, hardware-in-the-loop testbed built verify feasibility paper. Experimental results show that: When stable states, according divided steady can be correctly switched corresponding strategy, work each subsystem coordinated. Under gain sine condition, algorithm reduce maximum amplitude rate error response curve by 73% side slip angle 85%. Compared system, improve effect 20% 62.5%. case double lane-change, 68.5% 57.4%. 40.6% 44.7%.