Research on lateral stability of four hub-motor-in-wheels drive electric vehicle

Abstract

This paper focuses on the problem of lateral stability of four hub-motor-in-wheels drive electric vehicle, 7 DOF (degrees of freedom) vehicle simulation model which is verified by field test is established based on Matlab/Simulink software. On basis of simulated model, BP neural network PID torque distribution controller of lateral stability is proposed. The sideslip angle at mass center and yaw rate are selected as the control variables, and the BP neural network PID torque distribution controller is designed. The simulation result shows that proposed strategy can control the electric vehicle's sideslip angle at mass center and yaw rate, avoid the under steer and over steer of the vehicle and improve the vehicle lateral stability.