Abstract: To improve the lateral stability of vehicle, a lateral stability control strategy of distributed drive electric vehicle based on differential drive is proposed in this paper. Firstly, with a distributed drive electric vehicle as the research object, vehicle dynamics model is established using Simulink, and the built model correctness is verified by comparing it with the CarSim vehicle; then, a fuzzy controller (upper level control) is designed with the vehicle lateral angular velocity deviation and the vehicle center of mass distortion angle deviation as inputs, and the additional lateral torque as output. Considering the limitation of tire adhesion and the utilization rate of tire adhesion, the driving torque distribution controller (lower level control) is designed; finally, select typical operating conditions for simulation experiments. The experimental results show that the design vehicle lateral stability strategy can reduce the deviation of vehicle lateral angular velocity by more than 40%, and reduce the deviation of vehicle center of mass distortion angle by more than 80%, thereby making the vehicle's steering motion tend towards neutral turning and effectively improving the vehicle's lateral stability.

Key words: distributed drive electric vehicle; lateral stability; differential drive; Simulink/CarSim

摘要： 为提高车辆的横摆稳定性，文章提出了一种基于差动驱动的分布式驱动电动汽车横摆 稳定性控制策略。首先，以某分布式驱动电动汽车为研究对象，使用 Simulink 建立了车辆动 力学模型，并与 CarSim 车辆对比验证了所建模型的正确性；然后，以车辆横摆角速度偏差及 车辆质心侧偏角偏差为输入，以附加横摆力矩为输出，设计了模糊控制器（上层控制），考虑 轮胎附着力限制及轮胎附着力利用率，设计了驱动转矩分配控制器（下层控制）；最后，选取 典型工况进行仿真实验。实验结果表明，所设计的车辆横摆稳定性策略可将车辆横摆角速度 偏差降低 40%以上，车辆质心侧偏角偏差降低 80%以上，从而使车辆的转向运动趋向于中性 转向，有效提高车辆的横摆稳定性。

关键词: 分布式驱动电动汽车；横摆稳定性；差动驱动；Simulink/CarSim