Coordinated control of driving torque for multi-axles independent driving vehicles

A coordinated hierarchy control strategy of driving torque was developed for multi-axles(especially three-axles) independent electric driving hybrid vehicles.The control system is divided into three layers based on the hierarchical control theory,with the allocating layer(upper layer) allocating the total driving torque required on an ideal road,with the traction control layer(lower layer) avoiding the skid of a driven axle,and with the coordinating layer coordinating the inconsistency between the upper and lower layers.After the design of the coordinated distribution control strategy,a forward simulation model for the series hybrid electric vehicle propulsive system was developed under the MATLAB/Simulink environment,with detailed simulation analysis then made and the control strategy validated,while the strategy was used on a test vehicle for validation and evaluation.The results show that the coordinated control system can control the vehicle effectively and reliably with improved motor system efficiency and vehicle trafficapability.