分布式驱动电动汽车动力学集成控制研究进展及趋势

分布式驱动电动汽车具有四轮可独立控制和响应速度快等突出优势，对增强车辆操纵稳定性、安全性和经济性具有重要的意义。但车辆是一个非线性、强耦合的系统，需研究解决各个控制器相互耦合、过驱动系统复杂性和不确定性等核心问题，这依赖于多维 （纵向、横向和垂向） 集成控制模式和容错控制。对现有研究进行分类和总结，从传统单一维度控制到多维集成控制，综述分布式驱动电动汽车的关键技术和发展现状，重点归纳了汽车动力学集成控制的多层结构及其应用，特别是集成了纵向-横向-垂向动力学的综合控制。最后对分布式驱动电动汽车动力学控制系统所面临的挑战提出了一些建议。

Research Progress and Trend of Integrated Dynamics Control of Distributed Driven Electric Vehicles

With the advantages of independent control of each wheel and fast torque response, distributed drive electric vehicles (DDEVs) can significantly enhance vehicle handling stability, safety and economy.However, the vehicle is a nonlinear and strongly coupled system, facing the challenges such as coupling of each controller and the over-actuated system with complexity and uncertainties, which requires multi dimensional (longitudinal, lateral and vertical) integrated control and fault-tolerant control. In this paper, the key technologies and development status of distributed drive electric vehicles are reviewed from the traditional single-dimensional control to multi-dimensional integrated control. The multi-layer structures of vehicle dynamics integrated control, especially the integrated control of longitudinal-lateral-vertical dynamics, are introduced and their applications are summarized. Finally some suggestions are put forward on the future development direction of the dynamic control system of distributed drive electric vehicles.