四轮独立驱动电动汽车四轮转向控制与仿真研究

Study on Four-wheel Steering Control and Simulation for Electric Vehicle with Four Independent Drive Wheels

针对四轮独立驱动电动车四轮转向控制,论文研究了基于阿克曼转角的控制策略。给出了整车控制原理,设计了驱动力分配器和基于阿克曼转向原理的四轮转角分配器,应用Car Sim与Matlab/Simulink搭建了整车模型和编写了控制策略程序,选取双移线工况进行了仿真试验验证。试验结果表明:设计的四轮独立驱动电动车四轮转向控制策略能够保证汽车具有良好的操纵稳定性。

For the four-wheel steering control of the electric vehicle with four independent drive wheels,the control strategy based on Ackermann steering principle is studied in this paper. The vehicle control principle is given. The driving forces distributor and the wheels＇ corner distributor are designed. The vehicle model is built based on Car Sim and Matlab / Simulink and the control strategy is programmed. The double lane conditions simulation test is selected to verify the control strategy. The results show that the vehicle has good handling and stability by the steering control strategy designed in this paper.