中文摘要：

横摆稳定性是车辆主动安全研究的重要内容，在分布式驱动电动汽车上，利用车轮驱动/制动力矩可独立、精确调节的优势，能进一步提高横摆控制的效果。提出一种基于直接滑动率分配的横摆稳定性控制策略，控制策略分为上、下两层，上层为主动横摆力矩决策层，下层为车轮滑动率分配与控制层。为提高鲁棒性，在上层中采用滑模控制进行主动横摆力矩决策，并引入条件积分来消除滑模面附近的抖动和提高横摆角速度的跟踪精度，采用李雅普诺夫判定法证明算法的收敛性。在控制策略下层，基于魔术轮胎公式建立主动横摆力矩与车轮滑动率的关系式并计算出滑动率的控制边界值。应用 Carsim 与Matlab/Simulink联合仿真平台，进行所提出的横摆稳定性控制策略与Carsim/ESC的仿真对比。结果表明，引入条件积分的滑模控制能够在消除抖动的同时减小横摆角速度的跟踪误差，所提横摆稳定性控制策略能够提高车辆循迹能力，降低轮胎侧偏角并减小横摆控制过程中的车速下降幅度。

英文摘要：

Yaw stability control is an important part of vehicle active safety technology. On the four-wheel independently actuated electric ground vehicles, wheel driving/braking torques can be modulated independently and accurately, this can be used to enhance the performance of vehicle yaw control. In this article, a hierarchical yaw stability control algorithm based on direct slip ratio distribution is presented. Sliding mode control is adopted to yield the desired yaw moment in the high-layer of the algorithm due to the possible modeling inaccuracies and parametric uncertainties. The conditional integrator approach is employed to overcome the chattering issue, and its asymptotic stability property is demonstrated through the Lyapunov method. In the low-layer of the presented method, the magic formula tire model is used to establish the relationship between yaw moment and wheel slip ratio, then yaw moment was allocated to wheels’ target slip ratio directly. Compared with Carsim/ESC by co-simulation based on Matlab and Carsim, sliding mode control with conditional integrator can reduce the yaw rate tracking error, and the presented algorithm can improve vehicle tracking ability, enlarge the safety margin by reducing tire side slip angle.