Research on Torque Distribution Strategy for Four-Motor Distributed Drive Vehicles

Jinyi Zhao

doi:10.54254/2755-2721/2025.CH24658

Applied and Computational EngineeringOpen access

Research on Torque Distribution Strategy for Four-Motor Distributed Drive Vehicles

Research Article

Open Access

Research on Torque Distribution Strategy for Four-Motor Distributed Drive Vehicles

Jinyi Zhao ^1*

¹ School of Mechanical and Materials Engineering, North China University of Technology, Bajiao East Street, Beijing, China

^*Corresponding author: 3579789341@qq.com

Published on 4 July 2025

ACE Vol.169

ISSN (Print): 2755-273X

ISSN (Online): 2755-2721

ISBN (Print): 978-1-80590-209-6

ISBN (Online): 978-1-80590-210-2

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Abstract

With the global economic development and technological advancement, electric vehicles (EVs) have emerged as a key trend in the automotive industry due to their zero-emission advantage. However, handling stability issues in high-power EVs have become increasingly critical. This study focuses on torque distribution strategies for four-wheel independently driven distributed systems, aiming to enhance vehicle stability and safety by optimizing yaw and sideslip control.A MATLAB simulation model was developed to compare three strategies: no control, average torque distribution, and optimal control. The optimal strategy minimizes the sum of squared tire load ratios under total driving force and yaw moment constraints, using Lagrangian multipliers to derive torque allocation formulas. The average strategy evenly distributes torque while adjusting lateral differences via yaw moments.Simulations based on a linear two-DOF vehicle model and parameters (e.g., mass, wheelbase) under sinusoidal and delayed sinusoidal steering inputs show that the optimal strategy significantly reduces yaw and sideslip angles at 20–30 m/s, with sideslip optimization (93%–99%) and yaw angle reduction (58%–72%) outperforming other methods. At 10 m/s, while yaw angle RMS improvement is limited, sideslip control remains effective.The study confirms that the optimal torque distribution strategy enhances vehicle stability and handling under most conditions by dynamically optimizing wheel torques, providing a theoretical and simulation-based foundation for distributed drive control design.

Keywords:

Torque Distribution Strategy, Four-Motor Distributed Drive, Yaw/Slip Angle Optimization, Vehicle Stability Control

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References

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References

[2]. Torque optimization control for electric vehicles with four in-wheel motors equipped with regenerative braking systemXu, W.; Chen, H.; Zhao, H.Mechatronics, v 57, p 95-108, 2019

[4]. All-wheel-drive torque distribution strategy for electric vehicle optimal efficiency considering tire slipCao, K.; Hu, M.; Wang, D.IEEE Access, v 9, p 25245-25257, 2021

[5]. Cooperative control of trajectory tracking and lateral stability of distributed driven electric vehicleZhang, Z.; Jin, B.J Chang Univ Sci Technol Nat Sci, v 20, n 6, p 159-169, 2023

Cite this article

Zhao,J. (2025). Research on Torque Distribution Strategy for Four-Motor Distributed Drive Vehicles. Applied and Computational Engineering,169,77-85.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

About volume

Volume title: Proceedings of CONF-MSS 2025 Symposium: Machine Vision System

ISBN: 978-1-80590-209-6(Print) / 978-1-80590-210-2(Online)

Editor: Cheng Wang, Marwan Omar

Conference website: https://www.confmss.org/chicago.html

Conference date: 5 June 2025

Series: Applied and Computational Engineering

Volume number: Vol.169

ISSN: 2755-2721(Print) / 2755-273X(Online)

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