MPC-based compensation control system for the yaw stability of distributed drive electric vehicle

Conventional yaw stability strategy of distributed drive electric vehicle (DDEV) is usually realised by torque distribution strategy. However, the instantaneous variations of four independent tyres slip ratio and the effect of disturbance have not been considered sufficiently. Therefore, it is difficult to realise the robustness of yaw stability for DDEV under various operating conditions. To solve this problem, a novel model predictive controller-based compensation control system (MPC-CCS) is proposed in this paper. The proposed MPC-CCS consists of two parts, an MPC based-feedback controller and a Kalman filter based-feedforward controller. In the feedback controller, a dual torque distribution scheme is adopted to obtain optimal torque values derived from the real-time signals of four independent tyres slip ratio, an MPC is designed to realise optimal torque values for vehicle yaw motion. In the feedforward controller, a Kalman filter is employed to attenuate the effect of the disturbance on yaw performance. In this way, the robustness of yaw stability for DDEV can be guaranteed by the proposed MPC-CCS. The proposed MPC-CCS is evaluated on eight degrees of freedom simulation platform and simulation results of different conditions show the effectiveness of the MPC-CCS.