An electronic stability control (ESC) based on torque distribution is proposed for an eight in-wheel motor-independent drive electric vehicle (8WIDEV). The proposed ESC is extremely suitable for the independent driving vehicle to enhance its handling stability performance. The vehicle model is established based on a prototype 8WIDEV. A hierarchical control strategy, which includes a reference state generation controller, an upper-level vehicle controller, and a lower-level optimal control allocation controller, is utilized in the ESC. The reference state generation controller is used to obtain the ideal reference vehicle state. The upper-level vehicle controller is structured based on sliding mode control, which obtains the generalized objective force during 8WIDEV movement, therein considering the side slip angle and yaw rate. The lower-level optimal control allocation controller attempts to allocate the vehicle’s objective force in each motor optimally and reasonably. The model is validated by field measurement results under the step input condition and snake input condition. Simulation results from a hardware-in-the-loop (HIL) simulation platform indicate that the ESC based on the optimized allocation proposed for 8WIDEV achieves better stability performance compared with direct yaw moment control (DYC).
Multi-Objective Optimal Control Allocation for an Over-Actuated Electric Vehicle
