Control Allocation Based on All Wheel Control in the Dynamic Control of Eight In-wheel Motor Drive Vehicle
Control Allocation based on all wheel control in the Dynamic Control of an eight in-wheel motor drive vehicle is studied in this paper which adopts the hierarchical control strategy and all the wheels are controllable(AWC), including the upper level controller and the lower level controller. The upper level controller calculates the target force (yaw moment) according to the vehicle motion states. And the lower level controller undertakes the distribution of the target force to each tire accordingly. Furthermore, the control system proposed in this paper integrates active steering with direct yaw moment control strategy. Through driver-in-loop simulation under certain conditions, the proposed control allocation is contrasted with the direct yaw moment control(DYC) which only take the longitudinal force into account when distribute the tire force. And the results show that the control allocation based on all wheel control(AWC) is better than traditional direct yaw moment control(DYC), especially in the field of trajectory following as well as in-wheel motor torque distribution.