分布式电驱动汽车驱动力矩优化控制分配

针对分布式电驱动汽车在加速转向行车工况下车轮驱动力矩的控制分配问题，提出一种具有分层结构的控制策略.在控制策略的上层，为提高控制器对参数不确定和模型误差的鲁棒性，基于滑模控制进行主动横摆力矩计算.在控制策略的下层，构建了以提高车辆操纵性、降低电能损失为目标的优化问题，并基于离线计算和在线优化相结合的方式进行求解.采用Matlab-Carsim联合仿真，验证了控制策略在提高车辆操纵性能、降低能耗上的有效性. 

Research on Driving Torque Control Strategy for Distributed Drive Electric Vehicle

A wheel torque control strategy was presented for the distributed drive electric vehicle to control wheel torque when vehicle was accelerating in swerving. In the high level of the strategy, a sliding mode control was used to calculate the desired yaw moment and to improve the stability resulted from the model error and parameter inaccuracy. In the lower level of the strategy, an optimization algorithm was established to improve the maneuverability, to diminish energy loss, and also a solution was got based on the combination of offline mathematical programming and online optimization. The results based Matlab-Carsim co-simulation prove that the developed strategy can both improve the vehicle maneuverability and reduce energy consumption.