关键词: 滑模协调控制, 稳定性控制, 四轮独立电驱动, 力矩分配控制

Abstract: In response to the dynamic characteristics and complex driving control strategies of four wheel independent electric drive vehicles,a driving collaborative control strategy based on torque distribution coefficient method was proposed,and a driving torque sliding mode coordination controller was designed. In conjunction with the vehicle instability judgment module,the additional yaw torque required for maintaining stability of the vehicle was calculated. At the same time,the load distribution method was used to design the optimal driving torque distribution controller,based on load distribution method, the driving torque was distributed to four wheels to maintain stable vehicle operation. To verify the effectiveness of the driving collaborative control strategy,a four wheel independent electric drive vehicle model was established based on CarSim software,and the proposed driving collaborative control strategy was compared with the ordinary sliding mode control strategy through simulation. The results showed that the driving collaborative control strategy reduces the yaw rate deviation by 25 % and the center of mass lateral deviation by 23 %,which can meet the requirements of vehicle stability control and reduce the difficulty of vehicle driving torque distribution control.

Key words: sliding mode coordinated control, stability control, four-wheel independent electric drive, torque distribution control