第 49 卷第 8 期
2013 年 4 月
机 械 工 程 学 报
JOURNAL OF MECHANICAL ENGINEERING
Vol.49 No.8
Apr. 2013
DOI：10.3901/JME.2013.08.105
分布式驱动电动汽车动力学控制发展现状综述
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余卓平
1, 2
冯 源
1, 2
熊 璐
1, 2
(1. 同济大学汽车学院 上海 201804；
2. 同济大学新能源汽车工程中心 上海 201804)
摘要：回顾分布式驱动电动汽车动力学控制问题。分布式驱动电动汽车的主要结构特征是将驱动电动机直接安装在驱动轮内
或驱动轮附近，具有驱动传动链短、传动高效、结构紧凑等突出优点。电动机既是汽车的信息单元，又是快速反应的控制执
行单元，且通过独立控制电动机驱/制动转矩容易实现多种动力学控制功能。分布式驱动电动汽车为驱动防滑与制动防抱死控
制提供更迅速更精确的执行器，但其对状态估计的精度和控制算法的鲁棒性要求也进一步提高。分布式驱动电动汽车直接横
摆力矩控制控制与传统的直接横摆力矩控制相比，涵盖从常规到极限的全工况范围，因此算法须对非线性的轮胎特性有更好
的自适应性。差速、差动驱动助力转向和车身姿态等控制尚处于起步研究阶段。为解决多个动力学控制间的协调问题，集成
控制成为分布式驱动电动汽车动力学控制的一个重要发展方向。
关键词：分布式驱动电动汽车 汽车动力学控制 驱动防滑控制 制动防抱死控制 直接横摆力矩控制 运动跟踪控制
转矩分配控制
中图分类号：U46
Review on Vehicle Dynamics Control of Distributed Drive Electric Vehicle
YU Zhuoping
1, 2
FENG Yuan
1, 2
XIONG Lu
1, 2
(1. School of Automotive Studies, Tongji University, Shanghai 201804;
2. Clean Energy Automotive Engineering Center, Tongji University, Shanghai 201804)
Abstract：The vehicle dynamics control problem of the distributed drive electric vehicle is reviewed. The main features of the
distributed drive electric vehicle is that electric motors are mounted directly in wheels or nearby wheels, which lead to a short and
efficient transmission chain, also a compact structure. The electric motor can provide not only quick responses, but also important
information. A variety of dynamics control functions can be easily implemented by controlling the drive or brake torque of the electric
motor. The distributed drive electric vehicle offers the traction control and anti-lock braking control more rapid and more accurate
actuators, but further improvement is needed on both the precision of the state estimation and the robustness of the control algorithm.
Compared with the traditional direct yaw moment control, the direct yaw moment control of the distributed drive electric vehicle
covers from the conventional condition to the critical cornering condition, but higher requirement is needed on the algorithm
adaptation of the nonlinear tire characteristic. The research on the electric differential control, the differential drive assist steering
control and the attitude control are still in the infant stage. To eliminate the control conflict between different objectives, the integrated
control becomes one of the most important development trends of the distributed drive electric vehicle.
Key words
：Distributed drive electric vehicle Vehicle dynamics control Acceleration slip regulation Anti-lock braking system
Direct yaw moment control Motion following control Torque distribution control
0 前言
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安全性一直是汽车发展的重大主题，车辆行驶
国家重点基础研究发展计划(973 计划，2011CB711200)和国家自然科学
基金(51105278)资助项目。20120909 收到初稿，20130320 收到修改稿
动力学控制装置一直是汽车工业研发的焦点。目前
广泛应用的动力学稳定性控制系统由德国博世公司
首先研发，称为电子稳定程序(Electronic stability
program, ESP)
[1-2]
。ESP 是基于制动防抱死(Anti-lock
braking system，ABS)与驱动防滑系统(Acceleration
slip regulation，ASR)实现车辆动力学稳定性控制的
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