四轮驱动电动汽车在高速转向行驶过程中,由于车辆存在严重非线性,会出现横摆过大、过度转向或不足转向等现象。针对这些问题,文章在深入分析横摆角速度和质心侧偏角对车辆操纵稳定性的表征关系基础上,将模型匹配自适应控制结构与鲁棒控制策略相结合,动态控制横摆角速度和质心侧偏角,纠正驾驶路径和车辆姿态,以改善车辆行驶的操纵稳定性。仿真结果表明,鲁棒模型匹配控制策略对车辆非线性有很好的适应能力。 Four-wheel drive electric vehicles in the high-speed steering process, due to serious non-linear vehicle, there will be too much yaw, over-steering or understeering and so on. In order to solve these problems, based on the analysis of the relationship between the yaw rate and the roll centering angle on the vehicle handling stability, the article combines the model matching adaptive control structure with the robust control strategy to dynamically control the yaw rate and the centroid side Declination, correct driving directions and vehicle attitude, in order to improve the driving stability of the vehicle. Simulation results show that the robust model matching control strategy has good adaptability to vehicle nonlinearity.