Stage-by-phase multivariable combination control for centralized and distributed drive modes switching of electric vehicles

This paper presents a new modes switching control method based on a dual-motor centralized and distributed coupling drive system, which can achieve the centralized and distributed coupling drive and reduce the modes switching shock to improve electric vehicle dynamics performance. Initially, the influence of the switching speed on the shock is analyzed and the models of each modes switching stage are established. Furthermore, a stage-by-phase multivariable combination controller based on the control of position, velocity and force of the actuators is designed, and a load torque state observer is developed to estimate system interference. Finally, the shock suppression effect is testified by the upshift process simulation and the experiments of a centralized and distributed coupling drive electric vehicle. The research shows that the peak value of the switching process with the controller is 9 m/s3, which is lower than the recommended value of 10 m/s3. It laid the theoretical foundation for solving the mode switching problem of the centralized and distributed coupling drive electric vehicles.