基于主从策略的双轮直驱电动汽车转向差速控制

Steering Differential Control of Two-wheeled Direct-drive Electric Vehicle Based on Master-slave Strategy

双轮直驱式电动汽车采用感应轮毂电机驱动,通过对轮毂电机进行精确的同速和差速控制,取代传统汽车的机械差速器和传动装置。采用基于Ackerman转向模型的虚拟主从控制策略,轮毂电机均采用直接转矩控制(DTC),实现高动态牵引。基于系统的稳定性分析,用Matlab/Simulink软件对系统进行了仿真,结果表明,该方法在两轮毂电机存在负载转矩差异的情况下,可获得良好的稳态跟踪精度和较小的动态积分误差。

Two-wheeled direct-drive electric vehicle is driven by induction in-wheel motor, which can precisely control the in-wheel motor with the same and differential speed and take place of the mechanical differential and transmission device of traditional vehicles. High dynamic traction is realized, which is based on virtual master-slave control strategy of Ackerman steering model and direct torque control of in-wheel motor. The system has been simulated in the Matlab/Simulink via its stability analysis. The result shows that when the load torque is different between two in-wheel motors, the steady tracking accuracy is good, and its dynmnic integral error is small.