Xuewei Zhou
Wheel drive car, sliding mode control, chassis domain control, distributed drive, model predictive control
Wheel drive vehicles (WDVs) are receiving increasing attention due to their significant advantages. This paper presents a layered chassis domain control system (LCDCS). The upper trajectory following control module decouples the longitudinal and transverse control. The stability control of the middle layer is carried out. The model predictive control algorithm is used to design the integrated controller which combines the active front wheel steering control and torque vector control. The module for bottom torque distribution performs coordinated control by utilising multi-objective optimisation to optimise torque distribution. The final control instruction is then sent to the chassis actuator. The results showed that the subsequent lag of the chassis domain control system (CDCS) was 20 ms under the condition of two-lane uniform shift with high adhesion road surface. On the low adhesion road surface, the lag time was 30 ms, which is relatively close to the ideal value. The maximum speed response time of the proposed control strategy was 34.78 ms, which is about 60% shorter than that of the other two control strategies. The proposed hub-driven vehicle’s CDCS can enhance the vehicle’s handling stability on high and low adhesion road surfaces. It also coordinates the control effect of the intelligent driving domain and chassis power domain, which is of great practical significance.
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