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For the high energy consumption problem caused by the large torque fluctuations of inwheel motordriven vehicles on uneven roads and frequent shifting of vehicles, in this paper a method for energy consumption optimization of inwheel motordriven vehicles considering torque fluctuations is proposed. Firstly, based on the longitudinal drive dynamics equation of electric vehicles and the CarSim vehicle dynamics model, the motor energy consumption model, tire slip energy consumption model, and yaw torque tracking error model are established as the upper control target, and the inwheel motor dynamics model considering road surface excitation is established as the lower control target. Secondly, taking the upperlevel control target as the objective function of the torque optimization of the inwheel motor vehicle, the motor torque and speed energy limit as the inequality constraints, and the fuzzy control method for objective function weight distribution, the upperlevel torque optimization model is established based on NSGA II. At the same time, the lowerlevel inwheel motor vector control model of torque overshoot and delay caused by road surface excitation is established based on the sliding mode antidisturbance observer. Finally, the joint simulation of Simulink and CarSim of a fourwheel inwheel motordriven car is carried out, and the changes of the front and rear axle wheel torque, total energy consumption of the car, and the SOC of the car battery under different optimization methods are analyzed under WLTC operating conditions and CLTCP operating conditions. The inwheel motor bench test shows that the energy consumption optimization method of inwheel motordriven vehicles considering torque fluctuations can effectively reduce energy consumption under WLTC and CLTC-P operating conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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