Title: Multi-step torque distribution for an over-actuated electric vehicle

Authors: Houhua Jing; Zhiyuan Liu; Haifeng Liu

Addresses: Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China

Abstract: The over-actuated electric vehicle can flexibly adjust the torque of four wheels, to improve operational efficiency and vehicle motion performance. A multi-step torque distribution strategy is proposed, which can comprehensively consider the energy optimisation, vehicle stability and actuator dynamics, and realise the comprehensive control of longitudinal and lateral motion. It is composed of a static control allocation for energy optimisation, and a dynamic control allocation for manoeuvrability and stability enhancement based on model predictive control. It does not rely on complex online optimisation and is adaptive to highlight energy-saving, motion performance or stability under various scenarios. Finally, the controller is validated using a high-fidelity simulator called veDYNA.

Keywords: Over-actuated; torque distribution; energy efficiency optimisation; model predictive control.

DOI: 10.1504/IJVD.2020.113915

International Journal of Vehicle Design, 2020 Vol.82 No.1/2/3/4, pp.140 - 160

Received: 03 Oct 2019
Accepted: 12 May 2020
Published online: 01 Apr 2021 *

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