Taking the independently actuated in-wheel motor driven electric bus as the research object, an integrated control strategy of yaw stability and roll stability is proposed. On the basis of the upper and lower layered structure, the stability monitoring layer is added to the control strategy, which is responsible for calculating the desired value of the vehicle's critical state and determining the vehicle stability control mode. The upper controller is the yaw moment decision layer. To improve the robustness, the sliding mode control is used to calculate the additional yaw moment required for yaw and roll stability, and the Lyapunov method is used to prove the convergence of the algorithm. The lower controller is the torque distribution layer, which uses the active-set algorithm and combines the motor torque and the braking torque of the braking system to optimally distribute the yaw moment. The proposed control strategy is verified through the co-simulation platform of Trucksim and Simulink. The results show that the control strategy can coordinate the various control modes well, improve the tracking ability of the vehicle, and reduce the risk of side slip and rollover of the vehicle.

中文翻译：

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轮毂电机驱动电动客车的集成稳定性控制策略

以独立驱动的轮毂电动机驱动的电动客车为研究对象，提出了横摆稳定性和侧倾稳定性的综合控制策略。在上下分层结构的基础上，将稳定性监控层添加到控制策略中，该控制策略负责计算车辆的临界状态的期望值并确定车辆的稳定性控制模式。上层控制器是横摆力矩决策层。为了提高鲁棒性，使用滑模控制来计算偏航和侧倾稳定性所需的额外偏航力矩，并使用Lyapunov方法证明算法的收敛性。下层控制器是扭矩分配层，它使用主动设置算法，并结合了电动机转矩和制动系统的制动转矩，以最佳地分配横摆力矩。通过Trucksim和Simulink的联合仿真平台对提出的控制策略进行了验证。结果表明，该控制策略可以很好地协调各种控制方式，提高车辆的跟踪能力，降低车辆侧滑和侧翻的风险。