Dual-steering mode based on direct yaw moment control for multi-wheel hub motor driven vehicles:Theoretical design and experimental assessment

作     者：Zheng Zhang Xiao-jun Ma Chun-guang Liu Shu-guang Wei Zheng Zhang;Xiao-jun Ma;Chun-guang Liu;Shu-guang Wei

作者机构：Department of Weapons and Control EngineeringArmy Academy of Armored ForcesBeijing100072China 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2022年第18卷第1期

页      面：49-61页

核心收录：

学科分类：0806[工学-冶金工程] 0817[工学-化学工程与技术] 08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0703[理学-化学] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 0823[工学-交通运输工程] 

基　　金：This work was supported by the Weapons and Equipment Pre-Research Project of China(No.301051102) 

主　　题：Multi-wheel hub motor driven vehide Dual-steering mode Direct ya w moment control Real-time simulation 

摘      要：One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering *** paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environ *** control system is designed as a hierarchical structure,with a yaw moment decision layer and a driving force distribution *** the higher-level layer,the objective optimization function is con-structed to obtain the slip steering ratio,which represents the degree of vehicle slip steering in the dual-steering *** moment controller using active disturbance rejection control theory is designed for continuous yaw rate *** the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio,the yaw moment controller isactuated to determine the yaw moment demand for vehicle *** the lower-level layer,there is a torque distribution controller based on distribution rules,which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the *** verifying the validity and feasibility of the dual-steering mode,simulations were conducted on the hardware-in-loop real-time simulation ***,corresponding real vehicle tests were carried out on an eight-wheel prototype *** results were generally consistent with the simulation results,thereby demon-strating that the proposed dual-steering mode reduces steering radius and enhances the steering per-formance of the vehicle.