Torque vectoring control system for distributed drive electric bus under complicated driving conditions

作者：Liang Su, Zhenpo Wang, Chao Chen · 发表于：Assembly Automation · 年份：2021 · DOI：10.1108/aa-12-2020-0194 · 被引用次数：10 · 研究领域：Vehicle Dynamics and Control Systems、Electric and Hybrid Vehicle Technologies、Real-time simulation and control systems

Purpose The purpose of this study is to propose a torque vectoring control system for improving the handling stability of distributed drive electric buses under complicated driving conditions. Energy crisis and environment pollution are two key pressing issues faced by mankind. Pure electric buses are recognized as the effective method to solve the problems. Distributed drive electric buses (DDEBs) as an emerging mode of pure electric buses are attracting intense research interests around the world. Compared with the central driven electric buses, DDEB is able to control the driving and braking torque of each wheel individually and accurately to significantly enhance the handling stability. Therefore, the torque vectoring control (TVC) system is proposed to allocate the driving torque among four wheels reasonably to improve the handling stability of DDEBs. Design/methodology/approach The proposed TVC system is designed based on hierarchical control. The upper layer is direct yaw moment controller based on feedforward and feedback control. The feedforward control algorithm is designed to calculate the desired steady-state yaw moment based on the steering wheel angle and the longitudinal velocity. The feedback control is anti-windup sliding mode control algorithm, which takes the errors between actual and reference yaw rate as the control variables. The lower layer is torque allocation controller, including economical torque allocation control algorithm and optimal torque alloc...