Research On Driving Torque Distribution Strategy Of In-wheel Motor Driving Vehicle With Differential Drive Steering

With a series of advantages that transmission is simple and each driving wheel torqueis independent controllable, in-wheel motor driving vehicle control both sides of thein-wheel motor to produce differential torque around the kingpin, realize the motor’s rapidresponse and precision control, meanwhile enhance the steering performance and controlstability. In this paper, in-wheel motor driving vehicle is the research object with thein-depth discussion of in-wheel motor differential drive steering dynamic analysis andtorque distribution control.Firstly, the dual-front axles steering system of the in-wheel motor driving vehicle issimplified to establish the steering system dynamic model that contains the in-wheel motordifferential torque and a differential steering simulation model with12degrees of freedomis built, based on which open-loop differential steering control strategy of in-wheel motorwas designed and Vehicle differential drive steering characteristics is simulated andanalyzed. The results show the differential drive steering control strategy proposed isfeasible.Secondly, two degrees of freedom of vehicle reference model is built to obtain thereference swing angular velocity locus for the problem-focused that steering stability ofopen loop control is low. Afterwards, for increasing stability performance, in-wheel motortorque distribution strategy of yaw velocity based differential drive steering and differentialtorque control with sliding mode variable structure are designed and simulation test isengaged under different speeds and turning angles.Finally, for issue-focused that differential drive steering power performance of thein-wheel motor driving vehicle is low, yaw velocity and speed tracking based differentialsteering torque distribution control strategy is designed and simulation test is validatedunder different road condition and turning angles. The results show differential drivesteering torque distribution control strategy can effectively enhance the steeringperformance and power performance when steering.