自动化学报2026，Vol.52Issue(6)：1173-1188,16.DOI:10.16383/j.aas.c250629
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
Non-cooperative Game-based Optimization Management of Stability Margin and Energy Efficiency for an In-wheel Motor Group on Four-wheel Independently Driven Electric Vehicles
摘要
Abstract
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.关键词
四轮独立驱动电动汽车/轮毂电机群/稳定性/能效优化/博弈论/转矩矢量分配/分层控制Key words
four-wheel independently driven electric vehicles/in-wheel motor group/stability/energy efficiency op-timization/game theory/torque vectoring allocation/hierarchical control引用本文复制引用
丁月恒,王禹棋,花为,许德智,吴中泽..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[J].自动化学报,2026,52(6):1173-1188,16.基金项目
江苏省前沿技术研发计划(BF2025021),国家自然科学基金(62222307,U24A20146)资助 Supported by Jiangsu Provincial Frontier Technology Re-search and Development Program(BF2025021)and National Natural Science Foundation of China(62222307,U24A20146) （BF2025021）
