Yaw stability control for in-wheel-motored electric vehicle with a fuzzy PID method

In order to improve in-wheel-motored electric vehicle(EV) yaw stability, the yaw stability control system based on fuzzy PID controller is carried out in this paper. Firstly, we set up the original models for controller: a 2DOF EV dynamics model and wheels with in-wheel motors model. Secondly, a control system which includes three parts: reference model, upper yaw stability fuzzy PID controller and lower moment distribution controller is designed. Besides, under the help of lookup table, the problem that fuzzy toolbox can´t be downloaded into dSPACE is solved. Finally, we run the off-line and real-time simulation on a 8 degrees of freedom(DOF) in-wheel-motored EV model with unitire tire model to verify the effectiveness of the fuzzy PID algorithm.