Coordinated control of stability and economy based on torque distribution of distributed drive electric vehicle. (May 2020)

• Record Type: Journal Article
• Authors: Zhao, Youqun; Deng, Huifan; Li, Yong; Xu, Han
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 234:Number 6(2020)
• Page Start: 1792
• Page End: 1806
• Publication Date: 2020-05
• Subjects: Coordinated control -- distributed drive electric vehicle -- torque distribution -- energy optimization -- yaw moment control; Mechanical engineering -- Congresses; Transportation engineering -- Congresses; 629.2
• DOI: 10.1177/0954407019880427
• Languages: English
• ISSNs: 0954-4070

Abstract

The torque distribution strategy of distributed drive electric vehicle is only aimed at safety or economy. A multi-target coordinated control method considering stability and economy is proposed to solve the problem of single torque distribution target, which consists of a coordination decision controller, a high-level motion controller, and a low-level allocation controller. The coordination decision controller based on the phase plane method determines whether to adopt a stability or economic control strategy. The high-level motion controller consists of a bicycle model with 2 degree of freedom, a speed tracking controller, a stability controller, and an economic controller to calculate the desired direct yaw moment of the four in-wheel motors. The stability controller based on the fuzzy algorithm tracks the desired vehicle side slip angle and yaw rate calculated by the bicycle model with 2 degree of freedom to control vehicle stability. The economical controller based on a multi-motor loss model optimizes the efficiency of the vehicle's drive system. The low-level allocation controller is presented to provide optimally distributed torques for each wheel. Finally, the simulation and hardware-in-the-loop testing show that the coordinated control strategy can effectively improve the stability and economy of the distributed drive electric vehicle.