@饕餮王, MathWorks has some good stuff for this. If you're working with 4 motors on a VCU, the main tool you want is the Virtual Vehicle Composer in the Vehicle Dynamics Blockset. They have a specific setup called "All Wheel Driven by 4EM" which is exactly what you're looking for - one motor per wheel.
Here's what I'd recommend: Start with this page https://www.mathworks.com/help/vdynblks/ug/define-virtual-vehicle-components-passenger-vehicle.html - it explains how to set up the 4-motor configuration. When you set the Powertrain architecture to "Electric Vehicle 4EM", it automatically sets the Drivetrain to "All Wheel Driven by 4EM" and configures the VCU for you. The VCU handles managing the energy between the motors and battery, and the drivetrain section is where the actual torque gets split to each wheel.
One thing to note from the docs - when you use the 4EM setup, the Front Differential System gets set to "Dual EM Drive Front" and the Rear Differential System gets set to "Dual EM Drive Rear". So basically each motor drives its wheel directly with no mechanical differential, which gives you full control over individual wheel torques. That's actually perfect for torque vectoring.
As for the torque distribution strategies, there are a few common approaches. The simplest is just splitting torque equally between all four motors. But if you want better performance, you can do efficiency-based distribution using motor efficiency maps (each motor has options for Simple Motor or Mapped Motor with efficiency data), or go for stability control where you distribute based on yaw moment and slip control. Most production systems use some kind of optimization that balances energy efficiency with vehicle stability.
The way it usually works is you have two layers - the upper layer takes driver inputs and figures out the total torque needed plus the desired yaw moment, then the lower layer distributes that to the individual motors. You'll probably want to customize the VCU controller block to implement your specific algorithm.
There's also a decent blog post from the KIT racing team about their torque vectoring setup https://blogs.mathworks.com/student-lounge/2017/11/22/torque-vectoring-ka-race-ing/ - they explain their approach pretty clearly and talk about sensor requirements, power management, and how to structure the control system.
Hope that helps get you started!
