In this paper, vehicle stability with time-varying tire cornering stiffness and tire slip energy torque distribution is investigated for four-in-wheel motor drive electric vehicles thanks to the control flexibility. On the issue of tire slip energy, a scheme of “semi-empirical tire slip energy model” is proposed and analyzed. In this scheme, the hierarchical control method is used to reduce tire slip energy and improve vehicle stability. In the outer loop controller, cost control is designed based on optimal guaranteed cost theory, which is compared with the traditional linear quadratic regulator. The integrated control method of active front steering and direct yaw moment control is evaluated and studied from the cost perspective by norm-bounded uncertainty. Finally, the simulation results verify that the control framework considering time-varying uncertainty has significant advantages under the condition of high-friction coefficient single-lane change and low-friction coefficient slalom change. Compared with the linear quadratic regulator and the minimization of tire slip energy control, the control framework with optimal guaranteed cost can achieve smaller sideslip angle; meanwhile, it can save more tire slip energy.

中文翻译：

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基于最优保本理论的四轮驱动电动汽车轮胎滑移能量控制方案设计与应用

在本文中，由于控制灵活性，研究了四轮电机驱动电动汽车随时间变化的轮胎侧偏刚度和轮胎滑移能量扭矩分布的车辆稳定性。针对轮胎打滑能量问题，提出并分析了“半经验轮胎打滑能量模型”方案。在该方案中，采用分级控制方法来降低轮胎打滑能量，提高车辆稳定性。在外环控制器中，基于最优保成本理论设计了成本控制，并与传统的线性二次调节器进行了比较。采用范数有界不确定性从成本角度对主动前转向与直接横摆力矩控制的集成控制方法进行了评估和研究。最后，仿真结果验证了考虑时变不确定性的控制框架在高摩擦系数单车道变化和低摩擦系数回转变化条件下具有显着优势。与线性二次调节器和轮胎滑移能量控制的最小化相比，具有最优保证成本的控制框架可以实现更小的侧滑角；同时，它可以节省更多的轮胎打滑能量。