电动轮车电子差速控制的试验研究

Experimental Research of Electronic Differential Control for In-wheel Motor Drive Electric Vehicle

电动轮车是一种新型的采用电动轮驱动的电动汽车,电子差速控制是其关键技术之一。针对4轮独立驱动的低速电动轮车,在利用Ackerman转向模型对其转向时的4轮差速关系进行理论分析的基础上,通过推行转向试验确定了不同方向盘转角时的4轮差速关系,据此采用四路并行的轮边电机转速PID闭环控制实现了4轮的电子差速。实际道路工况的实车试验验证了所提出的基于推行转向试验确定4轮差速关系的电动轮车电子差速控制方法的有效性。

The in-wheel motor drive electric vehicle is a novel electric vehicle and the electronic differential control is one of its key technologies.For the low speed four-wheel independent drive electric vehicle,the differential relationship among four wheels is analyzed according to the Ackerman steer model,and then is determined through the push and steer test at different steering wheel angles.The electronic differential among four wheels is achieved through four parallel PID control closed loops of in-wheel motor speed.The proposed electronic differential control based on the differential relationship among four wheels determined through the push and steer test for the in-wheel motor drive electric vehicle is validated through the actual road test.