纯电动汽车低速转向差速控制模型

Low speed steering differential control model for pure electric vehicle

针对四个轮毂电机驱动的纯电动汽车,基于高效及简化差速控制技术的思想,利用Mat-lab/Simulink构建了适用于纯电动试验样车的阿克曼转向差速模型.在所建立的模型基础上,仿真研究了纯电动汽车四个车轮在不同转速和转角下的转速特性,并进行了左转向时各个车轮转速的对比、仿真车轮速度与实际车轮速度的对比及差速模型局限性分析.结果表明,所采用的阿克曼差速算法完全满足试验样车转向差速的需求,可为差速控制提供可靠的理论依据.

This paper focuses on a pure electric vehicle driven by four wheel motors and on the basis of the efficient and simplex thought of the differential control technology, and then establishes the Acke〉 man steering differential model which is suitable for the pure electric vehicle by using the Matlab/ Simulink tool. On the basis of the established model, this paper simulates and researches the speed characteristics of the four wheels of the pure electric vehicle under the different speeds and rotating angels, and then makes the comparison and analysis of the speeds of the four wheels when the pure electric vehicle is steering. We also compare the simulated wheel speed with the actual wheel speed, and make the analysis of the limitation of the steering differential model. The analysis results indicate that the used Ackerman steering differential model is suitable for the steering differential pure electric vehicle completely, it can provide a reliable theoretical basis for the differential control.