Research On Electronic Differential Control Integrating The Function Of Assisted Steering For In-Wheel Motor Drive Vehicle

In- wheel motor drive vehic le has the characterist ics of simple driving mechanis m, independent precision control of the torque of each driving wheel, and can exert significant advantages in the aspects of the vehicle steering dyna mic s, the driving mo ment distribut ion and the driving safety. In this article, the study process of the princ iple of analys is, control strategy study, simulation analys is and experimental was used. Based on the electronic different ial control princ iple, the driving torque of the In- wheel motor drive vehicle was assigned, and the control of the electronic differential steering control was studied.Firstly, the electronic differentia l assisted steering principle of the In- wheel motor drive vehic le was analyzed. The driving wheel speed and force in the process of vehicle steering were analyzed by using the knowledge of the vehicle steering kinemat ics and dynamics theory, indicating that the electronic differentia l control of vehicle steering driving can assist in steering and has influence on the turning radius. Also the electronic different ial based the driving wheel torque distribut ion was studied. The function of assisted steering was shown by analysis on the vehicle transverse swing moment of couple, wheel side slip angle, steering wheel angle and the direction of torque, and lay a theoretical foundation for the further research of the electronic differential assisted steering.Research on the driving wheel torque control strategy, and a mult i-objective comprehensive control strategy was put forward compared with the traditiona l mechanical different ial torque average distribut ion methods in this paper. Torque distribution strategy using Ackerman steering model at low speed of vehic le. The conclus ion shows that the driving wheel differentia l control of vehicle steering moment has certain assisted steering function. Transverse yaw moment control strategy was used at high speed,and designing fuzzy controller for driving wheel torque distribut ion to realize the basic electronic different ial function according to the yaw angular velocit y of the vehicle which is the reference value of stability. Meanwhile,it is advantageous to the vehic le stability contr ol, and improve the driving safety. O n the other hand, the torque control strategy is useful for vehicle steering in aspect of oversteer and understeer characteristics.In this paper, Matlab/Simulink and vehicle dynamics simulation model Carsim was used for joint modeling. Simulation and analys is were made on the contro l effect of the torque distr ibution strategy under main operating conditions,and verify the correctness of the control strategy were verified. Controller and test bench were designed according to the electronic different ial speed control strategy, making t est of motor performance and basic electronic differential function. Meanwhile, the road test of the vehicle which is with the rear wheel independent drive electric wheel was developed to lay the foundation for further application and validation of the control strategy in the future.