In view of the high difficulty in coupling of various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution of vehicle driving torque, the four-wheel hub motor is applied to drive electric vehicles, which can instantly obtain the torque and speed of the hub motor and achieve precise control of the torque of each wheel. According to the vehicle longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation of vehicle mass and road gradient is proposed. Meanwhile, by means of taking the longitudinal acceleration of the vehicle and the road gradient obtained from the estimation algorithm as the parameter of the torque distribution at the front and rear axles, a dynamic compensation and distribution control strategy of the front and rear axle torques is designed. Moreover, based on hardware-in-the-loop real-time simulation and real-vehicle tests, the effectiveness of the proposed estimation algorithm and the rationality of the real-time distribution control strategy of driving torque are verified.

中文翻译：

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基于PRLS道路坡度估计的四轮独立驱动越野车扭矩分配研究

针对电动汽车各种参数耦合难度大、参数估计难、车辆驱动扭矩分配不合理等问题，采用四轮轮毂电机驱动电动汽车，可即时获取轮毂扭矩和速度电机，实现对每个车轮扭矩的精确控制。根据车辆纵向动力学模型，提出了一种用于实时估计车辆质量和道路坡度的渐进式RLS（PRLS）算法。同时，通过将估计算法得到的车辆纵向加速度和道路坡度作为前后轴扭矩分配参数，提出了前后轴扭矩动态补偿分配控制策略。设计的。而且，