| Abstract: | Given challenges posed by the strong coupling between the vehicle''s longitudinal and yaw motions in dynamics control, focusing on four-wheel independent electric drive vehicles, the paper developed a vehicle system motion decoupling control method based on the differential geometry theory. The strongly coupled nonlinear four-wheel drive vehicle dynamics system is decoupled into two relatively independent motion control subsystems: longitudinal and lateral. A robust controller is designed to improve resistance against the disturbances from uncertain external forces, such as crosswinds during vehicle operation. A four-wheel drive vehicle model is established using the Trucksim software, and simulation tests are carried out to evaluate the vehicle decoupling control and anti-interference strategies. The results show that compared with the vehicle without decoupling control, the four-wheel independent drive vehicle with differential geometry decoupling control reduces the longitudinal speed deviation by 82.1% and the yaw angular velocity deviation by 80.7%. Additionally, the anti-interference ability under breezy condition is enhanced, leading to a significant improvement in vehicle stability. To further verify the control effectiveness of the motion decoupling control strategy in a real-time system, a hardware-in-the-loop test is also conducted, and the test results are consistent with the simulation results. |
