Stability control for distributed drive electric vehicles confronting differences of phase angle between coaxial motors

To enhance straight driving stability of distributed drive electric vehicle (DDEV) actuated by switched reluctance motors (SRMs), a stability control strategy for the vehicle confronting wheel torque discordance caused by differences of phase angle (DPA) coming from motors on two sides is proposed in this paper. The potential influence of the DPA between coaxial motors on vehicle stability is studied based on the established SRM and DDEV dynamics models. Then, the stability control strategy eliminating DPA is proposed by introducing feedback control for vehicle yaw rate, after DPA calculator and control selector are designed. Finally, the stability control system including DPA control system, vehicle dynamics model, driver model, and SRM drive system is founded and carried out under conditions of two-wheel and four-wheel driving modes. The co-simulation results prove the stability control strategy can effectively eliminate DPA such that the straight driving stability is greatly enhanced on both driving modes.