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中文摘要：
回顾控制分配理论在分布式电驱动车辆动力学控制中的应用。控制分配是解决执行器冗余控制的有效方法，它可将控制系统的设计分解为基本控制率的设计与控制分配算法的设计，降低控制系统设计的复杂度。分布式电驱动汽车的执行器数量多于被控物理量，是一种典型的执行器冗余控制系统。控制分配理论在分布式电驱动汽车中的应用经历了从简单的显式分配到优化分配的过程。在动力学控制方面，已形成包含各执行器约束，考虑轮胎横纵向力耦合的控制分配技术，结合液压系统与电动机系统进行分配是进一步研究方向。在能耗最优控制中，控制分配算法通过权重系数可以结合稳定性控制目标，有利于多目标融合的实现。在系统重构控制中，目前主要采用基于规则的控制分配方法，通过优化算法实现系统重构是进一步研究方向。目前应用的控制分配算法以二次规划与伪逆法为主，主要原因在于这两种方法的实时性好，且具有较高的分配精度。
英文摘要：
Review the application of control allocation theory in dynamic control of distributed drive electric vehicle. Control allocation is an effective method to solve actuator redundancy control problems, which could decompose the design of control system into basic control rate design and control allocation algorithm design, and reduce the complexity of the control system design. The number of actuators of distributed drive electric vehicle is more than the number of charged physical quantity; it is a typical redundant control system. The application of control allocation has experienced from simple display allocation to complex optimization allocation. In kinetic control aspect, the control allocation considering constrains of the actuators such as tyre force coupling has been studied;combination of hydraulic system and electrical system is the further research direction. In optimal energy consumption control aspect, the stability control targets can be combined in the control allocation algorithm through weight coefficient, which is conducive to the realization of multi-targets integration. In the system reconfiguration control aspect, rule-based control allocation method is used currently;using optimal control allocation to realize system reconfiguration control is the further research direction. The quadratic programming method and pseudo-inverse method are the research focus currently, mainly because the real-time and accuracy of two methods are quite good.
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Vehicle dynamics control of four inwheel motor drive electric vehicle using gain scheduling based on
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