Research on multi-objective control torque distribution strategy for distributed drive vehicles

Aiming at the characteristic of individually controllable torque of distributed-drive electric vehicles, based on vehicle stability control and motor energy consumption optimization as well as considering the tire adhesion stability margin of the wheels, a multi-objective optimization function is established and weight coefficients for coordinating the stability control objective and the economy control objective are designed, and the dynamic weight coefficients are solved by means of the $\beta$ $\dot{\beta}$ phase plane plot with the aim of improving the vehicle operation stability and motor energy efficiency. Among them, the upper layer controller calculates the additional swing torque and designs a PI vehicle speed tracking controller through a sliding film controller. In the lower layer control, the vehicle traveling state is judged by $\boldsymbol{\beta}-\dot{\boldsymbol{\beta}}$ phase diagram and the multi-objective function weight coefficients are adjusted in real time accordingly. The advantages and disadvantages of the proposed strategy are verified by Simulink and Carsim joint simulation experiments, under DLC and Sine conditions, compared with the average distribution strategy, the vehicle is well stabilized under the coordinated multi-objective control and the energy saving is improved by a large increase in energy utilization by 7.4% and 12.3%. The research results help to improve the overall performance of distributed drive.