Energy-Efficient Wheel Torque Distribution for Heavy Electric Vehicles With Adaptive Model Predictive Control and Control Allocation

This paper proposes an energy efficient hierarchical wheel torque controller for a 4×4 heavy electric vehicle equipped with multiple electric drivetrains. The controller consists of two main components: a global force reference generator and a control allocator. The global force reference generator computes motion requests based on steering wheel angle and longitudinal acceleration inputs, while adhering to actuator and tire force constraints. For this purpose, a linear time-varying model predictive controller (LTV-MPC) is employed to minimize the squared errors in yaw rate and longitudinal acceleration over a short prediction horizon. Concurrently, the controller dynamically identifies safe operating limits based on current driving conditions. These limits are then used to adjust the state cost weights dynamically, thereby improving the effectiveness of the MPC cost function. The control allocator (CA) subsequently distributes the force demands from the global reference generator among the electric machines and friction brakes. This allocation process minimizes instantaneous power losses while respecting actuator and tire force constraints. To further enhance energy efficiency, the method leverages the heterogeneous nature of the electric machines by minimizing not only operational power losses but also idle losses (power losses at zero torque), ensuring safe vehicle operation. The proposed strategy is evaluated using a high-fidelity vehicle model under various driving scenarios, including low-friction surfaces and near-handling-limit conditions. Simulation results demonstrate that dynamically varying state cost weights in conjunction with safe operating limits significantly improves vehicle performance, enhances energy efficiency, and reduces driver effort.