Model adaptive torque control and distribution with error reconstruction strategy for RWID EVs

Abstract

The performance of the torque control and distribution is a critical problem that can affect the stability, safety and energy efficiency of a rear‐wheel independent drive (RWID) electric vehicle (EV). This study proposes a model adaptive torque control and distribution method for RWID EVs. First, the torque control and distribution problem is analysed in detail. Then an RWID EVs’ longitudinal model is built and a torque control and distribution scheme is proposed. To avoid the over‐actuation and the under‐actuation of the powertrain system, a controller is designed based on the longitudinal model to adaptively control the driving torque. To comprehensively consider the stability and safety, an error reconstruction strategy based on the fuzzy logic theory is proposed to evaluate the errors in the side slip angle and in the yaw rate. In order to accurately distribute the driving torque to the rear wheels, a torque distribution controller is designed. Finally, the proposed method is validated on a co‐simulation platform, and the simulation results demonstrate the excellent performance of the proposed method for RWID EVs’ torque control and distribution compared with the counterparts of fuzzy logic direct yaw‐moment control and two‐loop torque distribution and control.

Keywords

• model adaptive torque control
• error reconstruction strategy
• safety
• rear‐wheel independent drive electric vehicle
• distribution method
• RWID EVs' longitudinal model