轮式电动车转向差速控制方法

An Electronic Differential Control Method of In-Wheel Driven EV

基于转向差速控制技术,建立了适用轮式电动车低速行驶时的阿克曼转向差速模型。采用4个模糊PID复合控制器,对驱动轮毂电机转速进行控制并协调分配四电机的转矩,实现转向差速控制。仿真结果表明,所采用的阿克曼差速控制方法完全满足轮式电动车在低速转向差速的需求,同时驱动电机的转速控制系统能较好地实现给定参考速度的自适应跟踪,可以提高车辆在低速转向时的操纵性和稳定性。

Based on the differential control technique,establish an Ackerman Steering Differential Model which was applied when the vehicle with electric wheels drives in low speed. Four fuzzy PID compound controllers were used,control the speed of the driving hub motors and distribute the torque of the four motors in a coordinate way,thus the electric differential was controlled in the process of steering. The simulation showed that the Ackerman Differential control method completely met the need of differential of the vehicle with electric wheels when it steers in low speed,meanwhile the speed control system of the driving motor could adaptively track the given reference speed as well,and the handling and stability of the vehicle were improved when it steers in low speed.