基于MPC的分布式电动汽车直接横摆力矩控制

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中图分类号：U463.6 文献标志码：A DOI： 10.19822/j.cnki.1671-6329.20250095

【Abstract】Distributed drive electric vehicles leverage hub motors toachieve independent and precise torque control， oferinganewtechnicalapproach for directyaw momentcontrol.However，traditionalcontrol strategiessufferfrom high energyconsumptionand delayed intervention.To improvevehiclestabilityandeconomy，this studyproposesahierarchical directyaw momentcontrolstrategy basedon modelpredictivecontrol.Theupper-levelcontrolerdesigns theadditional yaw momentbasedonatwo-degree-of-freedomvehiclemodel，enablingreal-timepredictionandproactiveregulationofvehicle motion.Thelower-levelcontroleraims tominimize tireadhesionutilizationandoptimizes torque distribution by considering motor characteristics androadadhesion constraints.The proposed strategy isvalidated under typical operating conditions，including double-lane changeand serpentinemaneuvers，through co-simulationusing CarSimand MATLAB/ Simulink.Simulationresultsshow thattheproposed strategyefectivelyregulates thesideslipangleandyawrate，nhances drivingsafetyand maneuverability，whilebalancingeconomyand stability.Thefindingsprovideanenginering solutionfor directyawmomentcontrolindistributeddriveelectricvehicles，andthehierarchicalcontrolarchitectureandconstraintbased optimization method ofer valuable insights for coordinated control in multi-motor drive systems.

Key words：Distributed drive electric vehicle，MPC，Direct yaw moment control， Torque distributionstrategy

0引言

分布式电动汽车不同于传统的集中式电动汽车，其核心特征是通过轮毂或轮边电机将驱动系统分散至车轮端，实现转矩分配。（剩余7557字）