Research on Hierarchical Stability Control Strategy Based on Model Predictive Control for Multi-axis H-Type Distributed Drive Electric Vehicles

As a special distributed drive configuration, H-type distributed drive electric vehicle (H-DDEV) has better off-road ability and trafficability than traditional distributed drive electric vehicle, which attracts the interest of researchers deeply. However, due to its unique structure, how to ensure the stability of H-DDEV is still a key control problem. In this article, a hierarchical stability control algorithm based on model predictive control (HC-MPC) is proposed for H-DDEV. First, the vehicle dynamics model is established, which can reflect the dynamic characteristics of H-DDEV. Then, the HC-MPC is designed. In the upper layer, the nonlinear two-degrees-of freedom (2-DOF) model is applied in MPC, which can improve the control accuracy without increasing complexity through local linearization. In the lower layer, the optimal distribution equation is constructed to coordinate the torque distribution, which can make full use of the motor drive/braking characteristics and protecting the motor controller meanwhile. Finally, the proposed HC-MPC algorithm is evaluated through MATLAB/Simulink simulation tests under the double lane change (DLC) handling test. The simulation results show that the HC-MPC algorithm can ensure the stability of the H-DDEV, and the control effect is better than that of the traditional control algorithm based on PID (HC-PID).