Torque Allocation Algorithm of Distributed Driving Electric Vehicle Based on Energy Consumption Optimization

A hierarchical control structure is proposed for the distributed-motor drive electric vehicle, which consists of a motion following controller and a torque allocation module. The torque allocation algorithm based on energy consumption optimization is the focus of this paper. Firstly, the optimization objective is approximated by a convex function through fitting the motor efficiency map. Then, the nonlinear optimization problem is solved through single-iteration sequential quadratic programming algorithm combined with a one-dimensional search algorithm. Simulation results show that the proposed algorithm can satisfy the demanded yaw moment and force with less energy consumption.