Feedforward and Feedback Integrated Control for Handling Characteristics Adjustment of Multi-axle Heavy-duty Vehicles Using Independent-drive Electric Wheels

Electric vehicles with independent-drive electric wheels provide flexibility in vehicle dynamics control. In this paper, a controller is designed for an independent-drive multi-axle heavy-duty vehicle, aiming at adjusting its handling characteristics by external yaw moment. A hierarchical control structure is adopted, including a feedforward and feedback integrated high-level control block, middle-level control allocation, and low-level traction control system. The stability factor of a multi-axle vehicle is studied, and a feedforward part is designed based on the bicycle model analysis. The sliding mode control is used in the feedback part of the high-level control. Simulation results show that the heavy-duty vehicle’s yaw rate response can be adjusted in a wide range.