Torque Vectoring Algorithm for Distributed Drive Electric Vehicle Considering Coordination of Stability and Economy

Working in high-efficiency areas for in-wheel motors (IWMs) and minimum tires slip should be considered when driving for distributed drive electric vehicles (DDEV). Therefore, a novel torque vectoring control algorithm is proposed to lower energy dissipation and ensure lateral stability, which consists of a linear quadratic regulator (LQR) and a Proportion Integration (PI) control module in upper controller to calculate desired additional yaw-moment and total driving torque respectively for following desired yaw rate, side slip angle and longitudinal velocity. In addition, the stability objective function considering tires working load and the economic objective function considering working efficiency of IWMs and tires slip energy are established separately in lower controller. The fitness function of coordinating lateral stability and economy is obtained by phase plane method. Particle swarm optimization (PSO) algorithm with a superior initial population (SIP-PSO) is proposed to solve torque distribution coefficients for torque distribution of DDEV. Finally, simulation and hardware-in-the-loop (HIL) test results under DLC and SLC maneuvers on lower adhesion road indicate that the proposed algorithm can effectively lower the energy loss of IWMs working and tires slip when ensuring lateral stability under different working conditions.