针对双电机四驱电动汽车稳定性控制，采用分层控制方法，通过对前后轴电机输出转矩以及车轮液压制动力矩进行协调控制来获取调节横摆力矩，在保证车辆稳定性的前提下提高车辆行驶速度． 上层控制采用变结构滑膜控制，得到车辆稳定时所需的纵向力与调节横摆力矩，设计指数趋近律，用饱和函数取代符号函数，以达到准滑动模态，消除高频抖振现象;下层控制进行力的分配，采用二次规划方法，控制电机驱动转矩与液压制动转矩，实现优化分配． 结合 Avl Cruise、CarSim 与 Matlab/Simulink，建立整车与控制器模型，并进行多工况试验． 仿真结果表明，控制策略能够提高车辆道路跟踪能力，减小质心侧偏角，提高车辆动态响应性能．

Aiming at the stability control of two-motor four-wheel driving electric vehicles，this paper adopts the hierarchical control method to coordinate the driving torque of the electric motor on anterior-posterior axis and the hydraulic braking torque，and thus obtains the adjusted yaw moment，so that the vehicle stability is ensured and the driving speed is meanwhile improved． In the upper control system，through the variable-structure synovial control，the longitudinal force and the adjusted yaw moment are obtained to ensure the vehicle stability． Moreover，the index reaching law is designed and the saturation function is used to replace the sign function，so as to achieve the quasisliding mode and attenuate the high-frequency chattering． In the lower control system，the quadratic programming method is employed to achieve an optimal distribution of the electric motor drive torque and the hydraulic braking torque． The whole vehicle and controller models are constructed by combining Avl Cruise，Carsim and Matlab/Simulink，and  corresponding experiments are conducted． Simulation results show that the proposed control strategy can
improve the ability of vehicles to track the road，decrease the side slip angle and improve the dynamic response performance of vehicles．