A torque coordination control method for distributed driving vehicles based on dynamic constraints of heterogeneous actuators

By establishing a dynamic constraint model for heterogeneous actuators and a joint feasible domain for the entire vehicle, the problem of discrepancy between torque distribution results and the actual output capability of the actuators was solved, achieving more precise wheel torque coordination control and improving vehicle stability and control performance.

CN122143873APending Publication Date: 2026-06-05WENZHOU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
WENZHOU UNIV
Filing Date
2026-04-30
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

In existing technologies, the torque distribution results of distributed drive vehicles deviate from the actual output capability of the actuators, affecting the stability and control effect of the entire vehicle, and the dynamic constraints of heterogeneous actuators are not fully considered.

Method used

By acquiring vehicle state parameters, driving input parameters, and heterogeneous actuator operating parameters, a dynamic constraint model for the wheel-end drive motor and wheel-end brake actuator is established, a joint feasible domain for the whole vehicle is constructed, and feasibility judgment and constraint consistency correction are performed on the target longitudinal force and additional yaw moment to achieve coordinated distribution of wheel torques and dynamically update the constraint model to adapt to the actual output capability of the actuator.

Benefits of technology

It improves the accuracy of torque distribution and overall vehicle stability, enhances control coordination, reduces response mismatch and control conflicts, and improves the robustness, safety, and reliability of vehicle control in engineering applications.

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Abstract

The application provides a torque coordination control method for a distributed drive vehicle based on dynamic constraints of heterogeneous actuators, and relates to the technical fields of vehicle dynamics control and distributed drive control, and comprises obtaining vehicle state parameters, driving input parameters and heterogeneous actuator operation parameters. The torque coordination control method for the distributed drive vehicle based on dynamic constraints of heterogeneous actuators obtains the vehicle state parameters, the driving input parameters and the heterogeneous actuator operation parameters, establishes a dynamic constraint model of a wheel-end drive motor and a wheel-end brake actuator, constructs a whole vehicle joint feasible region based on the dynamic constraint model, performs feasibility determination and correction on a whole vehicle target longitudinal force and a target additional yaw torque, and then realizes the split wheel torque coordination control of the distributed drive vehicle, so that the torque distribution result is more consistent with the actual output capacity of each actuator, the vehicle longitudinal and yaw coordination control precision is improved, and the whole vehicle driving stability and control coordination are enhanced.
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