| Nowadays, because of oil rising energy prices and of the shortages of China in real, the government are strongly advocated the electric vehicle and offer a huge number of subsides for it. So in recent year, the electric vehicle become more and more popular, its sales and technology both have increased significantly. Well, the 4 IWD(in-wheel-drive) vehicle also comes to the world. Unique drive form that means the more obvious advantages, also represents the new development direction. The technology researches also in depth which based on the platform of Independent-Motorized-Wheel-Drive. In this paper, the author studies on differential drive power steering technology which is also based on the electric vehicle with Independent-Motorized-Drive.Differential drive power system uses the front wheels output driving force to realize the steering assisted, and its advantage is integrate the controller and component, as well as to assist drivers to control the vehicle. At present, the study of differential drive power technology in its infancy, most of the research is only about the theory or computer simulation, and few research about the stability and anti-interference ability in actual environment. The basic principle is not complicated, however be limited by applicable platform and technology maturity, there is a distance to the practice application stage.This article in view of the question of the steering wheel torque fluctuation which is too sensitivity to the real conditions of volatility with differential drive steering technology in actual work environment, the author committed to the find out the influence of the sharp fluctuations of the steering wheel toque through simulating the real steering conditions base on vehicle model and disturbances model assumpted, as well as to do frequency domain stability analysis, lastly design out a robust controller to optimize the steering torque and road feeling, which is certificated via simulation and real vehicle test. |
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