Lateral stability control of four wheels independently drive articulated electric vehicle

One of the significant challenges in articulated vehicles is the stability control. In this paper, a new kind of electric articulated vehicle is introduced and its four wheels independently drive method is analyzed. The proposed method is based on the distributed drive, which is relatively common on electric automobiles nowadays. First, the equations of a single track analytical linear model are formulated to get a deep insight of the dynamic yaw performance. Then, several control methods are applied to this linear model to compare their effect on stability. The results of the simulation reveal that the proposed method has an excellent effect on the vehicle stability control.