MPC-based Torque Distribution for Planar Motion of Four-wheel Independently Driven Electric Vehicles: Considering Motor Models and Iron Losses

The most critical obstacle for four-wheel independently driven electric vehicles (4WID-EVs) is the driving range. Being actuators of 4WID-EVs, motors account its major power consumption. In this sense, by properly distributing torques to minimize consumption, range 4WID-EV can be effectively improved. This paper proposes a model predictive control (MPC)-based torque distribution scheme, which minimizes consumption 4WID-EVs while guaranteeing tracking performance planar motions. By incorporating motor considering iron losses, optimal achieved without an additional controller. Also, reason, proposed scheme computationally efficient, since term optimized, expressed as product voltages and currents, much simpler than that derived from efficiency map. With reasonable simplification linearization, MPC problem converted quadratic programming problem, solved efficiently. simulation results in MATLAB CarSim co-simulation environments demonstrate reduces with guaranteed performance.