Torque coordination control of distributed drive electric vehicle for straight line driving

A novel method to solve the straight line driving stability problem of distributed drive electric vehicle is presented. The error of motor torque response will result in difference between the driving torques on the left and right wheels for distributed drive electric vehicle, and this will cause yaw moment and offset during straight line driving. The relationship between straight line driving stability and torque difference is analyzed through simulation. By analyzing the relationship between slip ratio and longitudinal force, a torque coordination control method based on slip ratio has been found. Simulation based on Matlab/Simulink and hardware-in-loop experiment have been carried out. The results show that the method can improve the straight line driving performance.