Stability Coordination Control of Distributed Drive Vehicle Matching Mechanical Elastic Electric Wheel Based on Game Theory

This paper studies on the subsystem interference problem due to chassis strong coupling characteristics of vehicles matching mechanical elastic electric wheel (MEEW) under limited working conditions. It takes the active front steering (AFS), direct yaw moment control (DYC) as research objects. According to non-cooperative feedback Nash equilibrium game theory, a game coordination controller with variable subsystem weights is designed, and the ideal output at the Nash equilibrium point is obtained by coupling Riccati equation and its iterative transformation. The joint simulation platform of CarSim/Simulink is built to conduct the simulation test with the speed of 100km/h and the pavement attachment coefficient of 0.3 on double shift condition. The results show that the vehicle matching MEEW under control has better stability than that under single control overlay. The tracking errors of the sideslip angle and the yaw rate under game coordination control mechanism have decreased by 54% and 23% respectively compared with AFS/DYC composite control mechanism.