Energy-Efficient Coordinated Torque Distribution Control for Stability of Hub Motor Electric Vehicles

DOI: https://doi.org/10.62517/jes.202602313

Author(s)

Guanyue Zhang, Zixu Zhao, Chunguang Liu*

Affiliation(s)

Department of Weaponry and Control, Army Academy of Armored Forces, Beijing, China *Corresponding Author

Abstract

An energy-efficient torque allocation strategy is developed for four-wheel independently driven electric vehicles, with both handling stability and in-wheel motor efficiency incorporated into a unified framework. A two-level control structure is designed for this purpose. At the supervisory level, a two-degree-of-freedom vehicle model is used to predict vehicle motion, while model predictive control determines the corrective yaw moment through receding-horizon calculations. Meanwhile, the overall longitudinal force requirement is derived from the driver’s input. At the allocation level, the wheel torque distribution problem is formulated as a convex quadratic program subject to linear equality and boundary constraints. The objective function considers both tire-force utilization and motor power dissipation, and the resulting optimization problem is solved online using an interior-point algorithm. An adaptive weighting strategy based on phase-plane characteristics is further introduced to balance vehicle stability and energy efficiency under different operating conditions. Moreover, an anti-slip function is embedded in the lower-level controller. By continuously monitoring wheel slip ratios and adjusting the corresponding wheel torques, the proposed controller suppresses excessive wheel slip and improves driving safety and stability on low-adhesion roads.

Keywords

Hub-Motor Drive; Torque Distribution; Quadratic Programming; Tire Adhesion Utilization; Motor Power Loss; Anti-Slip Regulation

References

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