Stability control of electric vehicle with motorised wheels based on sliding mode control

To improve the stability of the electric vehicle with motorised wheels, the seven degrees of freedom (DOF) dynamic model of the vehicle is established. Based on sliding mode control theory, the dynamic quality of the system operation, dynamic and static characteristic of the sliding mode operation, and relationship between the front wheel angle and stability parameters of the vehicle are taken into account in the stability control. To enhance the stability of the vehicle, the course angle is introduced as one of the control variables. Considering the coupling relationship of the sideslip angle, yaw rate and course angle, three stability control strategies of yaw rate control, sideslip angle control and combination control of the yaw rate and course angle are designed, and the stability of the vehicle under three control strategies is simulated with the MATLAB/Simulink software. The simulation results show that the combination control of the yaw rate and course angle can control the sideslip angle and course angle within a reasonable range, and track the desired yaw rate effectively.