The research of stability performance of five-axle all wheel driving vehicles with electric wheels basing on direct yaw control and traction control system

When turning at high speed, multi-axle vehicles are prone to steering shimmy, and even turning out of control and other issues. According to the characteristics that the driving torque of each electric-wheel can be independently controlled, the Direct Yaw Control strategy was proposed to improve the vehicle's steering characteristics. According to vehicle steering characteristics, a yaw rate calculation formula was established, that was also a yaw rate of the control objectives. The five-axle vehicle dynamics model was established with software ADAMS, and DYC-TCS control strategy was built with software Simulink. The step input response test was proceeded with different driving speed. It was found that when turning with DYC-TCS control strategy, the controllability of yaw rate can be significantly improved, the yaw rate convergence time became short, in particular, steering shimmy tendency can be reduced. It can improve the vehicle's handling and stability.