分布式驱动电动汽车横摆稳定性控制

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YawStabilityControlofDistributedDriveElectricVehicle

Tan Yong， Qin Yuying （Liaoning University of Technology，Jinzhou 121001）

【Abstract]To improve theyaw stabilityof distributed drive electric vehicles，this paper proposes ayaw stability layered controlstrategywhileconsidering longitudinal vehicle speedcontrol.Fortheuppercontroller，theyawmomentcontroleris designed basedonthesliding modecontrol principle.Additionalyaw momentsareobtained by tracking theexpected yaw velocityandthesideslipanglerespectively，whilethetotaladitionalyawmomentisobtainedbyweightedcalculation according tovehiclestate.Thelowercontrolerchooses thetireloadrateastheoptimizationobjectivefunctiontoalocate the torque of each whel.Finaly，aco-simulation model is established byCarSimand Simulink，and two working conditionsof doubleshift lineandangular step inputare selected for simulation verification.Theresults demonstrate thattheproposed layeredcontrolstrategycanmaketheactualyawvelocityandsideslipangleofthevehiclebeter tracktheexpectedvalue，and effectively enhances vehicle stability.

Keywords：Distributed drive electric vehicle，Stability，Yaw moment，Slidingmode control， Torque distribution

【引用格式】谭勇，秦玉英.分布式驱动电动汽车横摆稳定性控制[J].汽车工程师，2026（2）：21-26+32. TANY，QINYY.Yaw Stability Control of Distributed DriveElectric Vehicle[J].Automotive Engineer，2026（2）： 21-26+32.

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相较于传统燃油汽车，分布式驱动电动汽车拥有许多特有的优势。（剩余7632字）