The multi-articulated vehicle uses distributed drive mode. Due to its large
degree of freedom of movement and the large number of driving shafts, different
torque distribution methods affect the operational stability of the vehicle, how
to coordinate and distribute the torque of each driving motor has become an
urgent problem to be solved. To improve drive stability of the multi-articulated
vehicles, propose a layered torque allocation control strategy. The upper-layer
sliding mode controller determines the required additional yaw moments of each
car body based on the linear reference model, the controller is characterized by
swift response and a strong ability to resist interference. The lower-level
allocation module comprehensively considers the torque output limitations of the
electric hub motors, the prevailing road adhesion state, and the corrective yaw
moment constraints given by the upper layer, and constructs an optimization
objective function centered on the uniformity and stability of tire load. The
optimal distribution of driving forces for each wheel is completed by solving
this function dynamically. To validate the strategy's effectiveness, a vehicle
dynamics model is built in the multi-body dynamics software ADAMS/View. Using a
joint simulation framework integrating ADAMS/View and
MATLAB®/Simulink, the effect of the layered control strategy is
evaluated in comparative simulation with uncontrolled situation under U-turn and
single lane change conditions. The simulation outcomes demonstrate that,
compared to uncontrolled situation, the yaw rate deviation of each car body
under the torque layered control are significantly reduced, and the adhesion
utilization rate of tire is also effectively controlled, thereby the driving
stability is improved.