A QP-based Torque Distribution Strategy for All-Wheel-Independent-Drive Electric Vehicles

This paper presented a torque distribution strategy based on linear time-varying quadratic programming (LTV-QP) for yaw stability control of all-wheel-independent-drive electric vehicles. A two-degree-of-freedom vehicle dynamic model was established to figure out the desired vehicle states including sideslip angle of the centroid of vehicle and the yaw moment, which was used as the reference signal of the LTV-QP controller. However, the influence of the time-varying steering angle was generally not taken into account. A QP-based torque distribution strategy is put forward to reduce the yaw rate error caused by them. The proposed strategy is evaluated in Matlab/Simulink to track the reference yaw moment and optimize the torque distribution. The results indicate that the LTV-QP controller can effectively distribute the torques of four in-wheel motors and significantly improve the vehicle yaw stability.