Automatic Control and Computer Sciences

, Volume 52, Issue 1, pp 32–39 | Cite as

Yaw Moment Control Strategy for Four Wheel Side Driven EV

  • Zhu Zhao
  • Du Ronghua


When four wheel side driven EV travals in steering or changes lanes in high speed, the vehicle is easy to side-slip or flick due to the difference of wheel hub motor and a direct effect of vehicle nonlinear factors on vehicle yaw motion, which would affect vehicle handling and stability seriously. To solve this problem, a joint control strategy, combined with the linear programming algorithm and improved sliding mode algorithm, which combines the exponential reaching law and saturation function was proposed. Firstly, the vehicle dynamics model and the reference model according with the structure and driving characteristics of four wheel side driven EV were set up. Then, introduced the basic method of the improved sliding mode variable structure control and complete the sliding mode variable structure controller design basic on vehicle sideslip angle and yaw velocity.The controller accomplish optimal allocation of vehicle braking force through a linear programming algorithm, according to yaw moment produced by the vehicle motion state. Single lane driving simulation results show that the proposed control strategy can not only control vehicle sideslip angle and yaw velocity well, but also accomplish good controlling of the vehicle yaw moment, so as to significantly improve the handling and stability of vehicle.


wheel side drive sliding mode variable structure yaw moment control optimal allocation 


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© Allerton Press, Inc. 2018

Authors and Affiliations

  1. 1.Department of Automotive EngineeringHunan Mechanical and Electrical PolytechnicChangshaChina
  2. 2.Department of Automotive and Mechanical EngineeringChangsha University of Science and TechnologyChangshaChina

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