| ALLOCATION CONTROL ALGORITHMS DESIGN AND COMPARISON BASED ON DISTRIBUTED DRIVE ELECTRIC VEHICLES |
| Bo Leng1, Lu Xiong1, Zhuoping Yu1, Tong Zou4 |
1Tongji University
4SAIC Motor |
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| ABSTRACT |
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For a distributed drive electric vehicle (DDEV) which is equipped with redundant actuators, allocation control is a key technique. Three different allocation control algorithms are designated with fixed efficiency matrix, dynamic efficiency matrix, and direct yaw moment distribution, respectively. All these algorithms are applied in a vehicle stability control system with hierarchical control structure and evaluated from three aspects, namely, control precision, real-time characteristics, and control energy. Comparison results demonstrate that the algorithm with dynamic efficiency matrix has the best comprehensive performance, which is also validated in field tests based on a DDEV equipped with four motors. |
| Key Words:
Allocation control, Efficiency matrix, Stability control, Distributed drive electric vehicle |
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