Abstract: For tackling the problem of the reduction in longitudinal driving torque and the undesired yaw moment when the distributed drive electric vehicle enters the working mode of acceleration slip regulation as well as the motor failure, a torque distribution strategy to reduce the tire utilization rate and improve the longitudinal drive performance is proposed in this paper. The objective function that includes the properties of tire utilization and longitudinal drive is established based on the generalized yaw moment decision, and it is solved by the global sequential quadratic programming (SQP) under the constraints of driving anti-skid, motor failure, maximum driving torque and pavement attachment. A joint control model of distributed drive electric vehicle is established by Carsim and Simulink. The simulation results show that the strategy can improve wheel attachment margin and the vehicle dynamic performance under the premise of ensuring the stability of the vehicle.

Key words: Electric vehicle, distributed drive, torque distribution, stability, wheel utilization rate, power

摘要： 针对分布式驱动电动汽车在驱动滑转和电机失效时会引起驱动力下降及产生非期望横摆力矩，提出了一种以提高轮胎附着裕量和改善驱动性能的转矩分配策略。建立包含轮胎利用率和纵向驱动力2个性能的目标函数，基于广义横摆力矩决策控制，并在驱动防滑、电机失效、最大驱动转矩和路面附着的约束条件下，应用全局序列二次规划法(Sequential Quadratic Programming, SQP)求解目标函数。在Carsim和Simulink建立的分布式驱动电动汽车联合控制模型下进行了仿真试验，结果表明：该分配策略在保证车辆稳定性的前提下改善了车辆的动力性能，同时提高了车轮附着裕量。

关键词: 电动汽车, 分布式驱动, 转矩分配, 稳定性, 轮胎利用率, 动力性