The study introduces an innovative algorithm for yaw stability control in electric Formula racing cars with four-wheel drive, integrating Linear Quadratic Regulator (LQR) and tire stability margin analysis. The research includes developing kinematic equations for vehicle motion, calculating upper-layer additional yaw torque, and solving the lower-layer optimal torque problem. Through simulations and real-world testing, the algorithm significantly enhances vehicle stability and dynamic performance. The method has been successfully applied to the Formula Student Electric China E02 racing car, achieving the fastest lap in a figure-eight test.
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Yufan Qian (2024) studied this question.
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