**Shuang Wang, Jianfei Zhao \*, Tingzhang Liu and Minqi Hua**

School of Mechatronic Engineering and Automation, Shanghai University, Baoshan District, Shanghai 200444, China; wang-shuang@shu.edu.cn (S.W.); liutzhcom@oa.shu.edu.cn (T.L.); huaminqi@shu.edu.cn (M.H.)

**\*** Correspondence: jfzhao@shu.edu.cn; Tel.: +86-021-6613-0935

Received: 19 November 2019; Accepted: 7 December 2019; Published: 9 December 2019

**Abstract:** In this paper, an adaptive robust drive control system for an axial flux permanent magnet synchronous motor of an electric medium-sized bus based on the optimal torque distribution method is studied. The drive control system is mainly divided into two parts. First, a torque distribution method is proposed. The optimal torque distribution method based on particle swarm optimization algorithm is used to increase the high efficiency interval of the system and apply it to the energy feedback braking. Secondly, in order to reduce the nonlinear disturbance of the system and improve the accuracy of the unified control, this paper models and studies the vector system based on adaptive robust control. Finally, the whole drive control system is modeled, simulated and experimented. The simulation and experimental results show that the torque distribution method proposed in this paper can effectively increase the high-efficiency running time of the electric medium bus, and improve the shortcomings of insufficient mileage of the electric medium-sized bus. The use of a current controller based on adaptive robust control improves the control accuracy of the drive system and can effectively suppress the disturbances generated by it.

**Keywords:** adaptive robust control; AFPMSM; energy feedback; particle swarm optimization; torque optimal distribution method
