Research on Stability Control of a Rear-Wheel Distributed Drive Electric Formula SAE Vehicle Based on Differential Drive

Vehicles can achieve yaw moment control through longitudinal force distribution. For distributed drive electric vehicles, longitudinal force can be controlled by differential drive. It can correct vehicle attitude without limiting the traction performance, thereby improving vehicle stability and steering response. This paper presents a differential drive control strategy for a rear-wheel distributed drive electric Formula SAE (FSAE) race car. The control strategy aims at improving vehicle stability and steering response. The control variables are the yaw rate and the sideslip angle, and the sideslip angle is estimated by Kalman filter. Cascade control is used in the control strategy. The outer loop is responsible for correcting the yaw rate and the sideslip angle and distributing the tire longitudinal force. The combined controller of yaw rate and sideslip angle is based on linear quadratic regulator (LQR). The inner loop is responsible for correcting the wheel slip ratio by proportional-integral-derivative (PID) controller. Finally, the effectiveness of the control strategy is verified by co-simulation based on MATLAB/Simulink and CarSim.