四轮轮毂电机驱动电动汽车扭矩分配控制_余卓平==2008.pdf

36 8 ( ) V ol.36 No .8 2008 8 JOURNAL OF TONGJI UNIVERSIT Y(NATU RAL SCI ENCE ) 　A ug .2008 余卓平,姜　炜,张立军 ( , 20 1804) :/, , /., , /, . :, , ., . :;;;; :U 46 1.6　　　　　　:A 　　　　 :0253-374X (200 8)08-1115-05 Torque Distribution Control for Four Wheel In-Wheel-Motor Electric Vehicle Y U Zhuop ing, J IAN G Wei, ZHAN G Lij un (School of Au omo ive Engineering, Tongji Universi y, Shanghai 201804, China) Abstract:For he drive/brake orque can be con rolled independen ly in a four in-w heel-mo or drive elec ric vehicle,an inves ig a ion is made of a hierarchical con rol alloca ion approach o improve vehicle handling and s abili y by op imizing dis ribu ion of he drive/brake orque .T he con roller is composed of mo ion co n roller and alloca ion con roller.T he mo ion co n roller is designed o de ermine he gener- alized momen required o achieve vehicle mo ion.T he alloca ion con roller is designed o dis ribu e properly he orque on each w heel limi ed by several cons rain s.Tw o simula ion resul s show ha w i h he hierarchical con rol alloca ion con roller, he ire w i h he bigges ver ical load can be aken full ad- van age of and he s abili y performance is be er com pared w i h average dis ribu ion. Key words:elec ric vehicle;four w heel drive;in-w heel-mo or ;direc y aw momen con rol;con rol alloca ion 　　、. , [1] , , .AFS , (4WS )、 , [2] (AF S )、(DY C).4WS , . , , , 4WS :2006-12-07 :(196 1—), , ,, , .E-mail:yuzhuoping @f