Model Following Control of Hybrid 4WD Vehicles

Abstract This paper presents a method to design a rear wheel torque control system for hybrid four wheel drive vehicles (H4WD) and the results of its construction to an experimental vehicle. In the H4WD the front wheels are driven by an engine and the rear wheels are independently driven by two motors. The rear wheel torque control system employs a model following approach in which the yaw rate of the vehicle is controlled to track a reference yaw rate. The reference yaw rate is produced from a yaw rate reference model, a first order lag system which has a steering angle as the input signal. From results of computer simulations and experiments, this control system has been found to decrease the deflection of the vehicle due to lateral force disturbance such as lateral wind gusts. It also improves both the stahility and the controllability of the vehicle.