The research on performance of starting up on low adhesion road of electric wheel vehicles basing on direct yaw control and traction control system

With significantly different friction coefficients in the left and right wheels, the vehicle will be prone to out of control, such as wagging tail, when accelerating in straight-line. According to characteristics that the driving torque of four-wheel driving vehicle with electric wheels can be controlled independently, the driving torque control algorithm of inside and outside wheels was proposed based on PID control algorithm and DYC-TCS control strategy. It can get the optimal performance of the vehicle handling and stability. Four-wheel driving model has been built with software Adams/View, and was co-simulation with Simulink. The results show that during the straight-line acceleration tests with significantly different friction coefficient in the left and right wheels, the use of DYC-TCS control strategy is superior to traditional non-DYC-TCS control strategy, and better than only the TCS control program. With the DYC-TCS strategy, the maximum yaw-rate is 4% of the traditional non-DYC-TCS control strategy, the maximum lateral displacement is only 5%.