Optimal Control Design for Decoupling the Direct Drive Stability of Distributed Drive Electric Vehicles

Abstract

As a new type of drive for electric vehicles, distributed drive has many advantages such as simple structure and easy control, and is one of the important development directions of new energy vehicles in the future. In the past decade, the research on the active safety control of distributed drive electric vehicles has become more and more mature. In this paper, we propose a decoupled optimal control strategy based on the drive torque for the vehicle run-off and motion coupling problems that exist during the straight-line driving of distributed-drive electric vehicles. The upper control logic layer is responsible for cross-swing motion control and drive anti-skid control. The middle control logic layer is responsible for secondary planning of the additional torque from the upper control layer, based on which the decoupled cross-swing motion control with wheel anti-skid is realised. The lower control logic layer is responsible for the optimal distribution of the drive torque for speed following control. The decoupled optimal control of drive torque proposed in this paper can achieve the optimal distribution of drive torque, avoiding vehicle deflection on the premise of ensuring vehicle speed, while preventing excessive wheel slip, realising the decoupled control of vehicle linear motion and enhancing the linear driving stability of the vehicle.