分布式电驱动车辆力矩分配控制研究现状综述

分布式电驱动车辆具有控制灵活度高、传动链短、结构紧凑、传动效率高、空间布置利用率高等特点，独特的结构特点与驱动方式令其在充分挖掘车辆动力学控制潜力、增强车辆安全性、提升驱动效率、简化底盘结构等方面带来明显的技术革新，为高性能车辆控制技术提供硬件载体。然而，作为过驱动、多约束、车辆纵向-横向-垂向运动行为强非线性耦合系统，分布式电驱动车辆在车辆动力学控制、车辆行驶经济性控制、协同控制等方面仍面临理论与技术挑战。基于此，综合国内外前沿分布式电驱动车辆力矩分配控制策略研究，主要从控制框架、稳定性控制、能效控制、兼顾稳定性与经济性控制4个方面重点阐述当前发展现状，设计并对比分析应用案例，从不同角度对力矩分配的发展方向进行展望，旨在为先进分布式电驱动车辆高性能力矩分配控制器开发提供参考。

Review of Torque Allocation Control for Distributed-drive Electric Vehicles

Distributed-drive electric vehicles have the advantages of high control flexibility, short transmission chain, compact structure, high transmission efficiency, and high space layout utilization. These unique structure and traction characteristics enable the exploitation of the full potential of vehicle dynamics control; moreover, they enhance vehicle safety, improve drive efficiency, and simplify chassis structure, thus making distributed-drive electric vehicles a promising hardware carrier for high-performance vehicle controller development. However, as distributed drive electric vehicles are over-driven, multi-constraint, strongly nonlinear, and longitudinal-lateral-vertical motion coupling systems, they face the challenges of vehicle dynamics control, vehicle driving economy control, and cooperative control. In this study the state of the art in torque distribution control of distributed-drive electric vehicles was reviewed and analyzed, including control framework, stability control, energy efficiency control, and control of stability and energy efficiency. Moreover, application cases were presented, and the development direction of torque allocation strategy was outlined to provide a reference for advanced high-performance strategy design of distributed-drive electric vehicles.