Distributed drive vehicles are prone to wheel slip during driving on low adhesion coefficient roads. Wheel slip will not only cause energy loss, but also the different driving states of the two sides of the wheels will lead to a sharp deterioration in vehicle stability, which will adversely affect the dynamics and safety of the vehicle. For the control characteristics of distributed drive vehicles, a slip rate controller is designed on the basis of slip rate estimation, and a stability control strategy adapted to straight and steering driving are proposed. Firstly, the road surface is identified based on the Burckhardt tire model, and the optimal slip rate of the current road surface is estimated. And the optimal wheel speed corresponding to the current vehicle speed is calculated. An active disturbance rejection controller (ADRC) is established, which controls the four-wheel speeds by adjusting the motor output torque and tracks the optimal wheel speed corresponding to the optimal slip rate. The sliding-mode controller is designed considering the stability requirements of the vehicle during high-speed steering. And the wheel output torque is optimally allocated based on the quadratic programing method. Finally, joint simulations and hardware-in-the-loop tests verify the effectiveness of the control strategy proposed in this paper.

分布式驱动车辆在低附着系数道路上行驶时容易发生车轮打滑。车轮打滑不仅会造成能量损失，而且车轮两侧行驶状态的不同会导致车辆稳定性急剧恶化，对车辆的动力性和安全性产生不利影响。针对分布式驱动车辆的控制特性，在滑移率估计的基础上设计了滑移率控制器，提出了一种适用于直行和转向驾驶的稳定性控制策略。首先，基于 Burckhardt 轮胎模型识别路面，估计当前路面的最佳滑移率。并计算出与当前车速对应的最佳轮速。建立了主动抗扰控制器（ADRC），它通过调整电机输出扭矩来控制四轮速度，并跟踪与最佳滑移率相对应的最佳轮速。滑模控制器的设计考虑了车辆在高速转向过程中的稳定性要求。并基于二次规划法对车轮输出扭矩进行优化分配。最后，联合仿真和硬件在环测试验证了本文提出的控制策略的有效性。