Integrated Direct Yaw Control and Antislip Regulation Mixed Control of Distributed Drive Electric Vehicle Using Cosimulation Methodology

Table 8

Comparison of two reference values under four modes.

Test case	Control model	Max|Yaw rate| (rad/s)	Max|Sideslip angle| (rad)
Case1	Desired	0.26	0.08
	Without control	0.305	0.11
	With DYC	0.258	0.03
	With DMSC	0.258	0.03
Case2	Desired	0.26	0.08
	Without control	1.83	\
	With DYC	0.26	0.055
	With ASR	0.176	0.39
	With DMSC	0.26	0.075