Traction Control System of Electric Vehicle with 4 In-Wheel Motors using Lyapunov Stability Analysis Algorithm

Torque Distribution Algorithm for Four In-wheel Motors Drive Electric Vehicle Based on Torque Vector Control

“…The core algorithm, including the calculation of additional yaw moment and the distribution of four in-wheel motors torque, is the research of this paper, as shown in the blue block diagram in Figure 1. The research of vehicle state estimation and longitudinal driving force distribution can be found in these papers [8,9,10], which will not be discussed here. Torque vector control includes two parts: additional yaw moment calculation and wheel torque distribution: the additional yaw moment calculation uses the model predictive control algorithm to control the vehicle's actual yaw rate and centroid sideslip angle to follow the target value response on the basis of minimizing the amplitude of additional yaw moment, and calculate and obtain the additional yaw demand torque of the whole vehicle in real time; The wheel torque distribution part combines the longitudinal driving force distribution results, additional yaw moment, tire friction circle and other constraints to complete the optimal distribution of driving torque of four-wheel hub motor based on the optimal tire adhesion rate.…”