Dynamic torque allocation for in-wheel motor driven vehicle based on energy consumption optimization
CHEN Hao1, YUAN Liangxin1, ZHENG Sifa1,2, LIAN Xiaomin1
1. State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China; 2. Suzhou Automobile Research Institute, Tsinghua University, Suzhou 215200, China
Abstract：In-wheel motor driven vehicles can provide independent control of the driving torque to each wheel and easy access to feedback information. This paper presents a dynamic torque allocation method based on the torque vectoring control system of an in-wheel motor driven vehicle. The vehicle energy consumption is used as the objective function. Changes in the real-time capabilities of the motors and the driver's demands are used to build a constrained nonlinear optimization model. The optimization problem is decomposed into parts while the feasible torque space is discretized to resolve the contradiction between the constraint changes and the real-time requirement of the online optimization. A MATLAB/Simulink-Cruise simulation platform is used to verify the algorithm's feasibility and robustness for a new European driving cycle (NEDC) and an urban driving cycle. The simulations show that this method effectively reduces the vehicle energy consumption and has good fault tolerance.
陈浩, 袁良信, 郑四发, 连小珉. 基于能耗优化的电动轮汽车转矩动态分配[J]. 清华大学学报（自然科学版）, 2020, 60(2): 132-138.
CHEN Hao, YUAN Liangxin, ZHENG Sifa, LIAN Xiaomin. Dynamic torque allocation for in-wheel motor driven vehicle based on energy consumption optimization. Journal of Tsinghua University(Science and Technology), 2020, 60(2): 132-138.
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