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中文摘要：
针对四轮轮毂驱动电动汽车，以改善车辆稳定性为目标，设计了轮毂电机与液压制动系统联合控制策略。控制器采用分层控制结构，上层应用滑模变结构理论求取广义力，下层采用二次规划法进行转矩优化分配，同时考虑执行器的位置与速度约束。通过CARSIM软件与MATLAB软件的联合仿真进行算法验证。结果表明：在极限工况下，无控制或仅有电机控制的车辆都无法完成仿真工况，而电机系统与液压系统联合的控制策略则可以保证车辆的操纵稳定性。
英文摘要：
With improving vehicle stability as objective, an in-wheel motors / hydraulic brake system combined-control strategy is designed for four-wheel motor driven vehicles. The controller adopts layered control structure： the upper layer applies sliding mode variable structure theory to obtain the generalized force, while the lower layer uses quadratic programming method to optimize torque distribution, with consideration of the position and speed constraints of actuators. A CARSIM / MATLAB co-simulation is conducted for algorithm verification. The results show that under critical conditions, vehicles without control or controlled only with in-wheel motors can not complete the simulated operation, while the vehicle with in-wheel motor / hydraulic brake system combined-control strategy can assure the handling stability of vehicle.
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Vehicle dynamics control of four inwheel motor drive electric vehicle using gain scheduling based on
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