A research of DYC for independent 4WD EV based on control target dynamic regulated

A direct yaw-moment control (DYC) method based on the control target dynamic regulated is proposed to achieve integrated optimization between stability and maneuverability for the DYC system of independent 4WD EV. Firstly, the integrated control target for the stability and maneuverability is determined with the improved 2DOF bicycle model. Furthermore based on the "feedforward+feedback" control structure, the DYC controller is designed which combines the dynamical sliding mode control (DSMC) and LQ control. In the end the direct yaw moment is realized by the longitudinal forces of the four independent driving wheels which are distributed utilizing the symmetry strategy. The simulation experiments show that this DYC system can restrain the side slip angle effectively and keep higher yaw rate without the deterioration of the longitudinal performance. Moreover, the robustness of systems for road adhesion conditions variation and vehicle parameters uncertainties is also guaranteed in simulation validation.