Yaw-moment proportional distribution control strategy for four-wheel independently-actuated electric vehicle

This paper focus on the control strategy of the four-wheel independent driving (4WID) electric vehicle. Through the control strategy driving and power distribution, 4WID electric vehicle has the advantages of high efficiency, low energy consumption and so on. It can also realize the compound control of each hub motor easily, save energy and improve the vehicle dynamic performance at the same time. To optimize the control strategy of general working conditions, according to the theory of proportion adjustment of the yaw-moment feedback control, the vehicle model with 7 DOF and the wheel model were presented. The strategies of speed control, moment redistribution, and feedback adjustment were designed modularly. The result of CarSim-MATLAB/Simulink co-simulation validates the feasibility and effectiveness of the control strategy under the condition when low requirements for vehicle adaptability, the variation of kinetic parameters or road adhesion information can be ignored.