Improvement of Active Yaw Moment Control Based on Electric-Wheel Vehicle ESC Test Platform

In order to enhance the timeliness and accuracy of active yaw moment control for electric-wheel vehicle, an improved AYC system was designed. The control logic of the improved AYC system was based on identification of road adhesion coefficient. The control logic threshold value included three ranges. The controller of the improved AYC system adopted an integral separation PID controller in order to eliminate integral accumulation of control system. The controller was given different proportional coefficient, integral and differential coefficient according to different logic range. Two degree of freedom vehicle model was introduced to calculate the ideal value of yaw velocity and side-slip angle. An electric-wheel vehicle test platform was built based on XPC Target. Finally, the experiments were made based on the electric-wheel vehicle test platform. The experiments include a high adhesion road AYC experiment and a low adhesion road AYC experiment. The experimental results shown the improved active yaw moment control system could reduce the error of the ideal value and the actual value. The improved AYC system´s overshoot and the shock were smaller.