轮毂驱动电动汽车差速转向系统仿真分析

Simulated Analysis for Differential Steering System of In-wheel Motor Electric Vehicle

为了研究轮毂驱动电动汽车的差速转向系统,基于Acherman-Jeantand转向模型建立了差速转向解析表达式与仿真模型;给出了电机模型并依据其运动学方程设计了等效滑模速度控制器;搭建出包含差速转向模型、等效滑模控制器、电机模型在内的差速转向控制系统。结合实际工况,在MATLAB/Simulink环境中进行轮毂驱动电动汽车差速转向控制系统的仿真试验并与传统PI控制系统进行仿真对比。仿真试验结果表明:文中所建模型是正确的,控制系统是可行的;体现了等效滑模控制对差速转向系统控制响应时间短、超调量小、鲁棒性强等优势。

To study the differential steering system of In - wheel Motor electric vehicles, the differential resolution expression and simulation model were established based on the Acherman - Jeantand steering model. The motor model was given and an equiv-alent sliding mode speed controller was designed based on its kinematics equation. The control system of differential steering was constructed, including differential steering model, equivalent sliding mode controller and motor model. Combined with the actual condition, the simulation test of the difference speed steering control system of the In - wheel Motor electric vehicle, which com-pared with the traditional PI control system, was simulated in the MATLAB/Simulink environment. The simulation results show that the model is correct and the control system is feasible. It shows that the equivalent sliding mode control has the advantages of short-ening response time, reducing overshoot and enhancing robustness for the differential steering system.