| A Study on Lateral Stability Control of Distributed Drive Electric Vehicle Based on Fuzzy Adaptive Sliding Mode Control
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| Guo Qing Geng 1, Peng Cheng 1, Li Qin Sun 1, Xing Xu 2, Fanqi Shen 3 |
1School of Automotive and Traffi c Engineering , Jiangsu University
2Automotive Engineering Research Institute , Jiangsu University
3College of Engineering, Informatics, and Applied Sciences , Northern Arizona University |
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| ABSTRACT |
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This paper presents a joint sliding mode control algorithm with fuzzy adaptive gain to address the problem that the lateral stability of distributed drive electric vehicles is affected by system parameter perturbation and external environment disturbances under steering conditions. The control system is designed by considering the influence of road conditions and tire nonlinearity, taking the yaw rate and sideslip angle as control variables. The difference between the expected value and the actual value of the control quantity is taken as the input to obtain the expected front-wheel angle for feedback correction. Aiming at the problem that it is difficult to obtain the critical driving state parameters of vehicles and to directly measure the road adhesion coefficient which affects the vehicle's lateral stability, this paper presents a simplified unscented Kalman filter observer which is designed to dynamically estimate the vehicle state parameters and road adhesion coefficient for the lateral stability controller. Based on CarSim and MATLAB/Simulink, a co-simulation model is developed and verified under different working conditions. The results reveal that the proposed lateral stability control algorithm effectively reduces the front wheel steering angle, improving the vehicle's handling stability while reducing the driver's operating burden and improving driving safety.
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| Key Words:
Distributed drive electric vehicle, Fuzzy adaptive sliding mode, Lateral stability, UKF, Automotive Engineering
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Corresponding Author.
Guo Qing Geng , Email. 
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