Coordinated control of acceleration slip regulation and direct yaw moment control for distributed in-wheel motor drive electric articulated heavy vehicles

This paper presents a coordinated control strategy for acceleration slip regulation (ASR) and direct yaw moment control (DYC) to improve the lateral stability of a distributed in-wheel motor drive electric articulated heavy vehicle (DIMDEAHV). A non-linear TruckSim model and a linear three-degree- of-freedom (3-DOF) yaw-plane model of DIMDEAHV are generated, and their fidelity is evaluated. An algorithm is then developed to identify road conditions using the μ-λ standard curve of the Burckhardt tyre model. Built upon the road identification algorithm, an ASR controller is designed and proved to be effective in preventing wheel slip. Finally, a coordinated control strategy for ASR and DYC is developed and validated using co-simulation under a double lane change (DLC) manoeuvre. The simulation results demonstrate that compared to the DYC alone, the ASR and DYC coordinated control can effectively prevent the wheel slip and improve the lateral stability of the DIMDEAHV travelling at high speeds on low adhesion roads.