Disturbance Compensation and Torque Coordinated Control of Four In-Wheel Motor Independent-Drive Electric Vehicles

Functional overlaps and conflicts between Electronic Power Steering (EPS) and Torque Vectoring Control (TVC) for Distributed Drive Electric Vehicles (DDEVs) are issues that need to be addressed urgently. This paper deals with the interaction between EPS and TVC from the view of the influence mechanism and control objectives. The disturbance steering torque caused by the differential torque is estimated and a unified steering characteristic is proposed. To validate the analysis results, a torque compensation strategy is modified based on the exiting control system. And a robust vehicle state estimator is built thanks to the aligning torque estimation to provide the necessary information. Typical ground test results show that the torque oscillation on the steering wheel is suppressed. A faster and more linear steering response can be seen, which means that the proposed disturbance compensation strategy can comfort the contradiction between EPS and TVC, also improve the handling performance of the vehicle.