Research On Electric Differential Robust Control Of EV With Motorized Wheels

Electric vehicle with motorized wheels have more advantages than conventional electricvehicle driven by single motor. Motorized wheel arrangement is a promising technical solutionfor new energy vehicle. This paper in-depth discusses a key technology of motorized wheelsdriving vehicle, which is electric differential control technology. What’s more, from the standpoint of robustness and stability of control system, the research of electric differential robustcontrol strategy is carried out.First of all, electric vehicle driven by two motorized wheels is used as research object.Based on modeling the9freedom electric vehicle with motorized wheels, computer emulatedplatform is set up by Matlab/Simulink. By linearizing and simplifying the dynamic model, statespace model of controlled object is obtained. The relative slip ratio difference of two drivingwheels is set as control objective, and motor torque is direct controlled according to electricthrottle. Based on H∞robust control theory, electric differential robust controller is designed.And then, electric differential robust control system is simulated off-line on theMatlab/Simulink computer emulated platform. The simulation results show that, the electricdifferential robust control system could make two slip ratios close to each other with smalldifferences and both of them remain at low lever. What’s more, the robust control system couldovercome the effect of parameters perturbation such as vehicle load, center of mass position andheight, and have higher control precision than PID control system. It is proved that the controlsystem can realize differential function very well and has sound robustness and stability.Finally, rapid control prototyping and processor in loop simulation of control system iscarried by dSPACE real-time-simulation system, which offers reality basis for electricdifferential control system.