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.

中文翻译：

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RWID电动汽车的模型自适应扭矩控制和误差重构策略

扭矩控制和分配的性能是一个关键问题，可能会影响后轮独立驱动（RWID）电动汽车（EV）的稳定性，安全性和能源效率。本研究提出了一种用于RWID电动汽车的模型自适应扭矩控制和分配方法。首先，详细分析转矩控制和分配问题。然后建立了RWID电动汽车的纵向模型，并提出了扭矩控制和分配方案。为了避免动力总成系统的过驱动和欠驱动，基于纵向模型设计了控制器，以自适应地控制驱动扭矩。为了综合考虑稳定性和安全性，提出了一种基于模糊逻辑理论的误差重构策略，以评价侧滑角和横摆率误差。为了将驱动扭矩准确地分配到后轮，设计了扭矩分配控制器。最后，该方法在协同仿真平台上得到了验证，仿真结果表明，与模糊逻辑直接偏航矩控制和两环控制相比，该方法在RWID电动汽车的转矩控制和分配方面具有优异的性能。扭矩分配和控制。