单轮电机失效时四轮轮毂电动汽车各驱动模式转向特性研究

文章在对轮胎侧偏特性和轮胎力研究的基础上,提出了四轮轮毂电动汽车四种驱动模式的转向力矩分配问题；通过数学分析,将此问题转化为一个有约束条件的最优化求解问题,接着使用MATLAB优化工具箱,并采用有效集算法对此优化问题进行求解,最终解决了单轮电机失效时四种驱动模式的选择问题,为改善单轮电机失效时四轮轮毂电动汽车的转向特性,防止车辆侧滑失稳提供了理论依据；最后采用汽车动力学仿真软件TESIS DYNAware对所提理论的正确性进行了仿真验证。

Active Disturbance Rejection Control for Yaw Rate of Four in-wheel Driven Electric Vehicle

Based on the study of the tire cornering characteristics and moment of force, this paper puts forward the question about how distribute four kinds of driver model of steering torque for four in-wheel independent drive (4WID) electric vehicles. Through mathematical analysis, this problem can be converted to optimization with constraint,then use the MATLAB optimization toolbox, and adopt active-set algorithm to solve this optimization problem, finally solved the problem about how distribute four kinds of driver model of steering torque when single wheel motor fails. To improve the over-steer characteristic of four in-wheel independent drive (4WID) electric vehicles when single wheel motor fails and prevent the vehicle side-slip provides a theoretical basis. Finally, the correctness of this conclusion is examined using a driving simulator system named TESIS DYNAware.