基于非合作博弈的四轮独立驱动电动汽车轮毂电机群稳定裕度与能效优化管理OA

Aiming at the conflict between stability and economy in torque vectoring control of in-wheel motors for four-wheel independently driven electric vehicles,a coordinated control strategy based on stability margin game and hierarchical optimization is proposed.First,a vehicle dynamics model and a high-fidelity energy consumption mod-el are established;Then,a hierarchical controller is designed:The upper layer calculates the generalized yaw mo-ment based on a linear quadratic regulator,the middle layer employs model predictive control to optimize the yaw moment and distribution weights with the objective of minimizing system losses,subject to stability margin con-straints in the phase plane,and the lower layer solves for the optimal wheel torque using a quadratic programming algorithm.Hardware-in-the-loop simulation results based on dSPACE platform show that under double lane-change maneuver,the proposed strategy reduces energy consumption by 5.7%while ensuring stability,demonstrating excel-lent comprehensive performance and robustness.