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Research and Analysis on Stability Control of Four-Wheel-Independent-Drive Electric Vehicles Based on Phase Plane
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DOI：10.3390/wevj17080419.png)
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Abstract
En 中文
To address the insufficient control accuracy of traditional vehicle stability control methods under nonlinear conditions, this paper proposes a combined stability control strategy for distributed-drive electric vehicles based on the phase plane method. A two-degree-of-freedom vehicle dynamics model incorporating the Magic Formula tire model is established. The β − β ˙ phase plane is selected, and a dynamic stability boundary function is constructed through saddle point analysis and road adhesion coefficient fitting. An instability index is defined to quantify the deviation from the stable state. Based on this index, a hierarchical control strategy is designed: within the stable region, model predictive control (MPC) is employed for yaw moment optimization via differential torque distribution among the four in-wheel motors; when the vehicle enters the unstable region, sliding mode control-based active rear-wheel steering (ARS) is activated. The strategy is validated through CarSim-Simulink co-simulation under step steering and slalom maneuvers. Results show that under the high-speed step steering condition, compared with the uncontrolled case, the combined control reduces the peak yaw rate by 5.3%, the overshoot from 32.86% to 27.38%, the settling time from 9.87 s to 8.02 s, and the oscillation amplitude by 36.5%; under the slalom condition, the yaw rate amplitude is reduced by 5.4%. The proposed strategy effectively improves vehicle handling stability.
Keywords:
vehicle stability control
phase plane theory
<compound-kwd> <compound-kwd-part> <inline-formula> <mml:math id="mm2222"> <mml:semantics> <mml:mrow> <mml:mi>β</mml:mi> <mml:mo>−</mml:mo> <mml:mover accent="true"> <mml:mrow> <mml:mi>β</mml:mi> </mml:mrow> <mml:mo>˙</mml:mo> </mml:mover> </mml:mrow> </mml:semantics> </mml:math> </inline-formula> phase plane</compound-kwd-part> </compound-kwd>
instability degree
PID control
MPC control
sliding mode control
distributed-drive electric vehicle
four-wheel independent drive
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