Torque Vectoring (TV) is a critical control technology for enhancing the vehicle
dynamics and stability of electric vehicles equipped with
four-wheel-independent-drive (4WID) systems. A central challenge in TV design is
managing the trade-off between maximizing handling performance and minimizing
energy consumption, a crucial factor for EV range. While numerous advanced TV
control strategies have been proposed, a comprehensive and comparative benchmark
of foundational controllers evaluated on a platform that captures this trade-off
is notably absent from the literature. Among the numerous TV control strategies
proposed in literature, they are typically evaluated using simplified vehicle
models that neglect the detailed dynamics and efficiency losses of the electric
powertrain. This study addresses this gap by presenting a comprehensive
comparison of six distinct TV control strategies—PID, LQR, two first-order
Sliding Mode Controls (SMC), and two second-order SMCs. The controllers are
evaluated on a high-fidelity, multi-domain simulation platform that integrates a
detailed 14-DOF vehicle dynamics model with electro-thermal models of the motors
and energy storage system. The findings reveal a clear, quantifiable trade-off
between control precision and energy efficiency. The LQR and suboptimal SOSM
controllers delivered superior yaw rate tracking and vehicle stability but
incurred a measurable energy penalty. In contrast, the PID and continuous FOSM
controllers provided a robust balance of performance and efficiency. More than
an exercise on application of different control methods, this research
highlights the necessity of using integrated simulation methodologies for the
practical design and calibration of active chassis systems, ensuring that gains
in dynamic performance do not come at an unacceptable cost to vehicle range and
powertrain reliability.
