Research on Direct Yaw Moment Control Strategy of Distributed-Drive Electric Vehicle Based on Joint Observer

Combined with the characteristics of distributed-drive electric vehicle and direct yaw moment control, a double-layer structure controller is designed. The upper additional constructed based on model predictive control. Aiming at minimizing utilization rate tire adhesion constrained by working motor system brake system, quadratic programming active set was designed to optimize distribution moments. road surface coefficient has great impact reliability for which joint observer state parameters using unscented Kalman filter algorithm, correlates parameter form closed-loop feedback correction. results show that compared “feedforward + feedback” vehicle’s error sideslip angle control smaller, can improve stability effectively. In addition, according docking simulation test, adaptability conditions variable coefficients.