Abstract
The paper discusses novel computationally efficient torque distribution strategies for electric vehicles with individually controlled drivetrains, aimed at minimizing the overall power losses while providing the required level of wheel torque and yaw moment. Analytical solutions of the torque control allocation problem are derived and effects of load transfers due to moderate driving/braking and cornering conditions are studied and discussed in detail. Influences of different drivetrain characteristics on the front and rear axles are described. The results of the analytically-derived algorithm are contrasted with those from two other control allocation strategies, based on the off-line numerical solution of more detailed formulations of the control allocation problem (i.e., a multi-parametric non-linear programming problem). The solutions of the control allocation problem are experimentally validated along multiple driving cycles and in steady-state cornering, on an electric vehicle with four identical drivetrains. The experiments show that the computationally efficient algorithms represent a very good compromise between low energy consumption and controller complexity.