With the high-performance and high-efficiency demand in heavy-duty electric trucks (HDETs), the multi-motor, multi-speed electric distributed drive achieve great attention. However, frequent driving mode switching brings further requirements in smooth drivetrain torque delivering and driving comfort. To address these challenges, a power coordination control strategy for HDETs is proposed, with a particular focus on maintaining torque continuity between inter-axle during mode switching. First, a mode-gear shifting logic is developed based on energy efficiency optimization over the entire operating range. Then, an inter-axle torque coordination strategy between the middle and rear axles is designed to ensure smooth torque transfer during driving mode switching. Furthermore, a dual-loop control framework is established according to the control objectives at different stages, enabling coordinated motor torque and speed regulation during gear shifting between axles. The results demonstrate that the proposed coordinated control strategy effectively improves the riding comfort for HDETs during driving mode switching.
DongBZhangZZhouC. Towards a just Chinese energy transition: socioeconomic considerations in China’s carbon neutrality policies. Energy Res Soc Sci2025; 119: 103855. https://doi.org/10.1016/j.erss.2024.103855
2.
ZhouWChiYTangS, et al. The evolution analysis of low-carbon power transition strategies and carbon emission decoupling based on carbon neutrality target. Energy2024; 311: 133298. https://doi.org/10.1016/j.energy.2024.133298
3.
HuangYSurawskiNCOrganB, et al. Fuel consumption and emissions performance under real driving: comparison between hybrid and conventional vehicles. Sci Total Environ2019; 659: 275–282. https://doi.org/10.1016/j.scitotenv.2018.12.349
4.
XuXLiangJHaoQ, et al. A novel electric dual motor transmission for heavy commercial vehicles. Automot Innov2021; 4(1): 34–43. https://doi.org/10.1007/s42154-020-00129-7
5.
LeeDKRoJS. Analysis and design of a high-performance traction motor for heavy-duty vehicles. Energies2020; 13(12): 3150. https://doi.org/10.3390/en13123150
6.
WuJLiangJRuanJ, et al. A robust energy management strategy for EVs with dual input power-split transmission. Mech Syst Signal Process2018; 111: 442–455. https://doi.org/10.1016/j.ymssp.2018.04.007
WangZZhouJRizzoniG. A review of architectures and control strategies of dual-motor coupling powertrain systems for battery electric vehicles. Renew Sustain Energy Rev2022; 162: 112455. https://doi.org/10.1016/j.rser.2022.112455
10.
HanKWangYFilevD, et al. Optimized design of multi-speed transmissions for battery electric vehicles. In: 2019 American control conference (ACC), Philadelphia, PA, USA, 10–12 July 2019, pp.816–821. IEEE.
11.
VerbruggenFJRSilvasEHofmanT. Electric powertrain topology analysis and design for heavy-duty trucks. Energies2020; 13(10): 2434. https://doi.org/10.3390/en13102434
YuXLinCZhaoM, et al. Optimal energy management strategy of a novel hybrid dual-motor transmission system for electric vehicles. Appl Energy2022; 321: 119395. https://doi.org/10.1016/j.apenergy.2022.119395
14.
XuYIngelströmPKerstenA, et al. Improving powertrain efficiency through torque modulation techniques in single and dual motor electric vehicles. Transp Eng2024; 18: 100289. https://doi.org/10.1016/j.treng.2024.100289
15.
WenCZhangSXieB, et al. Design and verification innovative approach of dual-motor power coupling drive systems for electric tractors. Energy2022; 247: 123538. https://doi.org/10.1016/j.energy.2022.123538
16.
AhssanMREktesabiMMGorjiSA. Electric vehicle with multi-speed transmission: a review on performances and complexities. SAE Int J Altern Powertrains2018; 7(2): 169–182. https://doi.org/10.4271/08-07-02-0011
17.
KwonKJoJMinS. Multi-objective gear ratio and shifting pattern optimization of multi-speed transmissions for electric vehicles considering variable transmission efficiency. Energy2021; 236: 121419. https://doi.org/10.1016/j.energy.2021.121419
18.
YangWLiangJYangJ, et al. Optimal control of a novel uninterrupted multi-speed transmission for hybrid electric mining trucks. Proc Inst Mech Eng Part D: J Automob Eng2019; 233(12): 3235–3245. https://doi.org/10.1177/0954407018821524
19.
GuoJWuJZhangY, et al. Driving mode shift strategy for an electric heavy truck to minimize the energy consumption and shift frequency. Energy2025; 319: 134998. https://doi.org/10.1016/j.energy.2025.134998
20.
WangJZhangZGuoD, et al. Torque vectoring and multi-mode driving of electric vehicles with a novel dual-motor coupling electric drive system. Automot Innov2024; 7(2): 236–247. https://doi.org/10.1007/s42154-023-00280-x
21.
LiZZhangNWangC, et al. Multi-objective optimization of powertrain mode switching with hysteresis control for electric heavy-duty vehicles. IEEE Trans Transp Electrif2025; 11: 14177–14188. https://doi.org/10.1109/TTE.2025.3605722
22.
WuJWangBHongX. Driving torque control of dual-motor powertrain for electric vehicles. Actuators2022; 11(11): 320. https://doi.org/10.3390/act11110320
23.
HuMChenSZengJ. Control strategy for the mode switch of a novel dual-motor coupling powertrain. Fortschritte der Physik2018; 67(3): 2001–2013. https://doi.org/10.1109/TVT.2017.2769127
24.
HuJZhengLJiaM, et al. Optimization and model validation of operation control strategies for a novel dual-motor coupling-propulsion pure electric vehicle. Energies2018; 11(4): 754. https://doi.org/10.3390/en11040754
25.
TianYYiGJiX, et al. Design, analysis, and mode shifting of a novel dual-motor powertrain for electric vehicles. IEEE Trans Transp Electrif2023; 10(2): 2489–2498. https://doi.org/10.1109/TTE.2023.3299577
26.
ZhangCWangJGuanC, et al. Multimode shift control strategy without power interruption of dual-motor 4WD electric vehicle with two-speed transmission. IEEE Trans Transp Electrif2025; 11(2): 6267–6278. https://doi.org/10.1109/TTE.2024.3504484
27.
NguyenCTWalkerPDZhangN. Optimization and coordinated control of gear shift and mode transition for a dual-motor electric vehicle. Mech Syst Signal Process2021; 158: 107731. https://doi.org/10.1016/j.ymssp.2021.107731
ZengXCuiHSongD, et al. Jerk analysis of a power-split hybrid electric vehicle based on a data-driven vehicle dynamics model. Energies2018; 11(6): 1537. https://doi.org/10.3390/en11061537
