Impact of Delays for Electric Vehicles With Direct Yaw Moment Control

Abstract

This paper investigates the impact of time delay factors on the lateral motion of electric vehicles with direct yaw moment control (DYC). The existence of internal time delay factors is inescapable in electric vehicle (EV) systems, which might affect the effectiveness of DYC. Computer simulation shows that DYC works well at small time delays, while significant oscillation or even loss of stability occurs when the delays are large enough. A frequencydomain method is used to determine the stability limit of the timedelayed system.