汽车的操纵稳定性控制对于汽车的主动安全性有着重要的意义．文中对基于双转子电机驱动的电动汽车的操纵稳定性控制进行了研究．通过建立理想状态下的车辆模型，估算理想横摆角速度和质心侧偏角，根据相平面法设计车辆的稳定性判据，判断车辆的行驶状态．模糊横摆力矩控制器根据车辆的失稳情况估算所需补偿的横摆力矩．用滑移率控制器估算目标车轮的滑移率，通过制动系统和双转子电机的 PID 控制、模糊控制和模糊 PID 控制使目标车轮的滑移率达到需求值．最后应用 Vedyna 软件进行车辆的仿真分析，证明了该控制策略的有效性．

The handling stability control of vehicles plays a vital role in their active safety.This paper deals with the handling stability control of the electric vehicle based on the anti- directional Bi- rotary motor.First,a model of the vehicle in an ideal status is established to estimate the yaw rate and the side- slip angle,and the phase plane method is used to design the stability criteria of the vehicle,so as to detect the driving situation.Next,a fuzzy yaw moment controller is employed to estimate the compensatory yaw moment according to the instability situation of the vehicle.Then,the slip rate of the target wheel is estimated by using a slip rate controller and is adjusted to a re-quired value by means of the PID control,the fuzzy control,and the fuzzy PID control of both the brake system and the anti- directional Bi- rotary motor.Finally,the vehicle is analyzed by using the simulation software Vedyna.The effectiveness of the proposed control strategy is thus verified.