The research of stability performance of five-axle whole wheel steering vehicles with electric wheel basing on direct yaw control system

According to the characteristic that the driving torque of five-axle and whole wheel steering vehicles with electric wheels can be controlled independently, to improve vehicle handling and stability, based on the yaw control strategy, it was proposed that the optimal vehicle handling and stability can be achieved while turning, according to the target yaw rate, based on the PID control algorithm and DYC control strategy, with the control of the inner and outer wheel driving torque. And a five-axle vehicle model was built in Adams/View software, and was co-simulation with Simulink software. The results show that, during the angle step input response, compare to the only first two-axle steering vehicle, with the use of DYC control strategy, the yaw velocity overshoot is smaller 2.7% than without DYC, settling time is smaller 19.7%. For whole wheel steering vehicle, the yaw velocity overshoot with DYC is smaller 59.5% than without DYC, settling time is smaller 33.9%. This greatly improved the vehicle´s stability performance. Especially for whole wheel steering multi-axle vehicle, this decreased the possibility of steering shimmy.