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.
[1] 余卓平, 冯源, 熊璐. 分布式驱动电动汽车动力学控制发展现状综述[J]. 机械工程学报, 2013, 49(8):105-114. YU Z P, FENG Y, XIONG L. Review on vehicle dynamics control of distributed drive electric vehicle[J]. Journal of Mechanical Engineering, 2013, 49(8):105-114. (in Chinese) [2] KOEHLER S, VIEHL A, BRINGMANN O, et al. Improved energy efficiency and vehicle dynamics for battery electric vehicles through torque vectoring control[C]//2015 IEEE Intelligent Vehicles Symposium. Seoul, Republic of Korea, 2015:749-754. [3] MURATA S. Innovation by in-wheel-motor drive unit[J]. Vehicle System Dynamics, 2012, 50(6):807-830. [4] LI B, GOODARZI A, KHAJEPOUR A, et al. An optimal torque distribution control strategy for four-independent wheel drive electric vehicles[J]. Vehicle System Dynamics, 2015, 53(8):1172-1189. [5] SHEN P, SUN Z, ZENG Y, et al. Study on power ratio between the front motor and rear motor of distributed drive electric vehicle based on energy efficiency optimization[R]. SAE Technical Paper. Warrendale, USA:SAE, 2016. [6] CHEN Y, LI X D, WIET C, et al. Energy management and driving strategy for in-wheel motor electric ground vehicles with terrain profile preview[J]. IEEE Transactions on Industrial Informatics, 2014, 10(3):1938-1947. [7] YANG Y P, SHIH Y C, CHEN J M. Real-time torque distribution strategy for an electric vehicle with multiple traction motors by particle swarm optimization[C]//2013 CACS International Automatic Control Conference. Nantou, China, 2013:233-238. [8] 谷成, 刘浩, 陈辛波. 基于效率优化的四轮独立驱动电动车转矩分配[J]. 同济大学学报(自然科学版), 2015, 43(10):1550-1556. GU C, LIU H, CHEN X B. Torque distribution based on efficiency optimization of four-wheel independent drive electric vehicle[J]. Journal of Tongji University (Natural Science), 2015, 43(10):1500-1556. (in Chinese) [9] 徐兴, 陈特, 陈龙, 等. 分布式驱动电动汽车转矩节能优化分配[J]. 中国公路学报, 2018, 31(5):183-190. XU X, CHEN T, CHEN L, et al. Optimized torque energy-saving allocation for distributed drive electric vehicle[J]. China Journal of Highway and Transport, 2018, 31(5):183-190. (in Chinese) [10] 陈浩, 袁良信, 孙涛, 等. 电动轮汽车转矩矢量控制系统试验平台[J]. 清华大学学报(自然科学版), 2019, 59(2):162-168. CHEN H, YUAN L X, SUN T, et al. Test platform for a torque vectoring control system for in-wheel motor driven vehicles[J]. Journal of Tsinghua University (Science and Technology), 2019, 59(2):162-168. (in Chinese) [11] CHEN J, SONG J, LI L, et al. A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering[J]. Chinese Journal of Mechanical Engineering, 2016, 29(3):475-485. [12] 司远. 四驱混合动力汽车能量管理优化策略研究[D]. 合肥:合肥工业大学, 2017. SI Y. Research on the optimization of 4WD hybrid electric vehicle energy management strategy[D]. Hefei, China:Hefei University of Technology, 2017. (in Chinese) [13] 刘永刚, 李杰, 秦大同, 等. 基于多工况优化算法的混合电动汽车参数优化[J]. 机械工程学报, 2017, 53(16):61-69. LIU Y G, LI J, QIN D T, et al. Parameter optimization of hybrid electric vehicle based on multi-cycle optimization algorithm[J]. Journal of Mechanical Engineering, 2017, 53(16):61-69. (in Chinese) [14] 李杰. 计及路况信息影响机理的插电式混合动力汽车能量管理策略研究[D]. 重庆:重庆大学, 2018. LI J. Study on energy management strategy of plug-in hybrid electric vehicles based on the influences of driving conditions[D]. Chongqing, China:Chongqing University, 2018. (in Chinese)
2020, Vol. 60 
