Study on acceleration slip regulation torque distribution control strategy for four in-wheel-motors electric vehicle steering

For the motors of a four in-wheel-motors drive vehicle are independently controllable, so the torque coordination distribution among multi-wheel-motors has been the key technology of the four in-wheel-motors drive vehicle. Kinematics and dynamics analysis of steering are studied for four in-wheel-motors vehicle, the longitudinal force of each wheel is analyzed when the vehicle is in stably steering in different steering radiuses, a torque distribution strategy of acceleration slip regulation based on targeted speed is proposed and a fuzzy controller is designed. The co-simulation among Carsim, Matlab/Simulink and RT-Lab is carried out to verify the feasibility and effectiveness of the torque distribution strategy during different radiuses.