With the development of redundant driving system, vehicles' maneuverability and stability have great optimized potential. In this research, an electric off-road vehicle is served as controlled objective and a dynamic direct yaw-moment controller is proposed to realize the smooth accommodation of vehicle longitudinal-lateral motion under various transport conditions via controlling In-wheel motor (IWM) drive system. A data fusion technology is employed to enhance the control accuracy and responsiveness via amending the metrical data of INS and GPS primarily, and the discrete measured information are transmitted to a unscented particle filter with fine resampling (UPF-FR) that estimates the sideslip angle and yaw rate synchronously. Then, a feedforward-feedback control system is constructed to improves the controlled vehicle's maneuverability and stability based on the calculated active yaw moment. It is noteworthy that a nonlinear finite time feedback control system is utilized to acquire minimum error between the actual vehicle status and the desired vehicle status. After that, the IWM drive system execute the active yaw moment through modulating every motor's alternate current independently. In the end, some specific simulation and real tests are conducted to verify the performance of hierarchical control system.

中文翻译：

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轮毂电机驱动系统的电动汽车直接偏航力矩控制

随着冗余驱动系统的发展，车辆的机动性和稳定性具有巨大的优化潜力。在这项研究中，以越野汽车为控制目标，并提出了一种动态直接偏航力矩控制器，以通过控制轮内电动机（IWM）驱动来实现在各种运输条件下车辆纵向和横向运动的平稳适应。系统。采用数据融合技术主要是通过修改INS和GPS的度量数据来提高控制精度和响应能力，并将离散的测量信息传输到具有精细重采样（UPF-FR）的无味粒子滤波器，该滤波器可以估算侧滑角和同步偏航率。然后，构建前馈-反馈控制系统以改进受控车辆的 基于计算的主动偏航力矩的机动性和稳定性。值得注意的是，利用非线性有限时间反馈控制系统来获取实际车辆状态与所需车辆状态之间的最小误差。之后，IWM驱动系统通过独立地调制每个电动机的交流电来执行主动横摆力矩。最后，进行了一些具体的仿真和实际测试，以验证分层控制系统的性能。s交流电独立。最后，进行了一些具体的仿真和实际测试，以验证分层控制系统的性能。s交流电独立。最后，进行了一些具体的仿真和实际测试，以验证分层控制系统的性能。