四轮毂电机独立驱动车辆转向电子差速控制

Electronic Differential Speed Steering Control for Four In-Wheel Motors Independent Drive Vehicle

对四轮毂电机独立驱动车辆全轮转向电子差速控制策略进行研究.通过对转向运动学进行分析,建立了3自由度转向动力学模型,构建了四轮毂电机独立驱动车辆电子差速控制系统,提出了神经网络PID（NNPID）电子差速转速转矩综合控制策略,计算四轮目标转速,采用4个神经网络PID控制器,协调分配四轮毂电机的转矩,实现电子差速控制的转向.对于不同给定转向角和车速的仿真结果表明,该策略可以提高车辆低速转向的操控性和平稳性.

This paper studies all-wheel steering control strategy of electronic differential speed for four in-wheel motors independent drive vehicle.On the basis of kinematics of steering,a dynamics model of three degrees-of-freedom steering is established,and a control system of electronic differential speed for four in-wheel motors independent drive is constructed.A comprehensive control strategy of speed and torque based on neural networks PID electronic differential is proposed to calculate objected speed of four wheels.Four PID controllers are used to coordinately achieve torque distribution on four in-wheel motors and realize electronic differential speed steering.The simulation results with different reference steering angle and velocity indicate that the strategy can improve the steering maneuvering and stability of vehicle in a low speed.