The research of stability performance of 4WD vehicles basing on electric wheels torque control

For the drive torque can be controlled independently in a four in-wheel-motor driven vehicle, in order to improve vehicle handling and stability, based on the yaw control strategy, the new control strategy has been proposed that the driving torque of inner and outer wheels were changed in the same range at the same time while turning. A four-wheel-driving vehicle model is built in Adams/View, and conducted a joint simulation with Simulink. The results show that during the angle step input response, increased the inner torque is much better than reduce the inner torque or same inner and outer torque. In contrast to same inner and outer drive torque, increasing the inside of drive torque, the maximum overshoot of yaw rate is reduced of 5.73%, the smallest overshoot of yaw rate is decreased 1.88%, the convergence time is cut down 10.59%. It shows that the use of electric wheel technology with appropriate control strategy can greatly improve the car´s handling and stability.