Research on torque distribution control of high-performance distributed drive multi-axle special vehicle

For improving the comprehensive performance of distributed drive multi-axle special vehicles under multiple operating conditions, a hierarchical drive allocation strategy for dynamically coordinating vehicle performance is proposed. An 11-DOF vehicle dynamics model and a vehicle reference model considering slip-steering are established. Combined with the characteristics of the four-axle vehicle slip-steering in the upper controller, a sliding-mode variable structure control algorithm based on adaptive error is designed to decide the expected additional yaw moment. In the lower controller, a dynamic adjustment mechanism of vehicle performance based on fuzzy controller is established, and quadratic programming algorithm is used to solve the optimal driving torque of each wheel. Finally, the co-simulation platform of MATLAB/Simulink and TruckSim is built and verified by simulation experiments. The results show that the dynamic performance control strategy can effectively improve the stability of the vehicle under high-speed and large-angle conditions, and improve the dynamic performance of the vehicle at low-speed and small corners while ensuring stability, it is of great significance to improve the multi-condition performance of multi-axle special vehicles.