To reduce the vehicle jerk in mode shift, this paper investigates the driving torque control strategies of the planetary gear based dual motor powertrain. The rigid dynamic model of powertrain is built to formulate a general energy management strategy (EMS) and a robust EMS which avoids the drastically change of motors speed. A flexible dynamic model considering the flexible shafts is then built to accurately simulate the vehicle jerk. Based on the linear and polynomials function, two types of coordinated speed trajectories of motors are designed to transfer the discrete speed signals produced by EMS to continuous signals. A speed feedback control strategy and a combination control strategy of speed feedback and torque feedforward are proposed to implement the mode shift. The comparisons between EMS and robust EMS, linear and polynomials speed trajectories, speed feedback control and combination control are demonstrated by simulation. The results indicate that the robust EMS and polynomials speed trajectories can reduce vehicle jerk. The speed feedback control strategy is more stable than the combination control strategy when the model parameters are inaccurate.

为了减少模式转换中的车辆晃动，本文研究了基于行星齿轮的双电机动力总成的驱动扭矩控制策略。动力总成的刚性动态模型旨在制定通用的能源管理策略（EMS）和可靠的EMS，从而避免了电动机速度的急剧变化。然后建立考虑了挠性轴的​​挠性动力学模型，以精确地模拟车辆的加速度。基于线性和多项式函数，设计了两种类型的电动机协调速度轨迹，以将EMS产生的离散速度信号转换为连续信号。提出了速度反馈控制策略以及速度反馈和转矩前馈的组合控制策略来实现模式转换。EMS与功能强大的EMS之间的比较，通过仿真演示了线性和多项式速度轨迹，速度反馈控制和组合控制。结果表明，稳健的EMS和多项式速度轨迹可以减少车辆的晃动。当模型参数不准确时，速度反馈控制策略比组合控制策略更稳定。