Comparison of Control Allocation Algorithms Used in Stability Control of Four In-Wheel-Motors Drive Electric Vehicle

Design the stability control strategy of four in-wheel-motors drive electric vehicle (EV) based on control allocation. Two kinds of control allocation methods are designed in this paper, one is the quadratic programming (QP), and the other is a simplified optimization method (SOM). Comparing and evaluating the control strategies through the co-simulation with MATLAB software and CARSIM software. The results of the simulation show: both strategies could stabilize the vehicle posture well under critical condition. QP has more accuracy than SOM, and could rebuild the system automatically when the motor fails. But the SOM doesn’t need iteration, could be possible to use in the real vehicle.