Vehicle stability control and vehicle speed compensation based on adaptive terminal sliding mode method

Hub motor driven pure electric vehicle's transmission structure is simple and the driving wheel torque is controlled independently of each other. When the vehicle turns, both sides of the hub motor around the main pin to produce differential torque, so it can be flexible control of vehicle steering. In this paper, the hub motor driven pure electric vehicle as a prototype, side-slip angle and angular velocity as a controlled variable to design a path tracking controller based on adaptive terminal sliding mode. The simulation results show that the controller can effectively improve the stability of vehicle turning, but at the same time, it is found that the method can make the vehicle have a deviation from the ideal value. In order to solve the problem, a linear sliding mode steering torque controller is designed to compensate the speed of the vehicle. The vehicle torque control strategy is built in Matlab/Simulink environment and real-time connection with veDYNA dynamics simulation software to build a vehicle torque control method simulation model. The simulation results show that based on the stability control and speed compensation system adaptive terminal sliding mode method can guarantee the stability of the vehicle, angular velocity and side-slip angle can reach the target value, and also has better performance in speed.