Research On Coupling Dynamics Of Electic Wheel Vehicle Based On Differential Force Active Steering

Electric vehicles in the power of the active steering is prone to excessive steering or lack of steering,at the same time,the electric car is prone to slip when steering,based on the four degree of freedom vehicle model,a differential force active steering model is established in this paper.the multi input and multi output model of four degree of freedom vehicle dynamics model is transformed into a single input and single output transfer function model.In order to analyze the response of a single input to a single output,And the four degree of freedom vehicle model is transformed into the state space equation model,the application of Lyapunov stability principle and Calman stability theory to analyze the system stability and controllability and observability,the analysis of the stability theory shows that the four degree of freedom model established in this paper is stable and controllable.The calculated state space equation model is calibrated as the controlled object,select the parameters of the state space model of a domestic electric vehicle,the calculated ideal model is set as a reference model,All the performance indexes can reach a good level,the whole overshoot of the simulation data is small,and it is gradually stable.For vehicles in force between the active steering appear under emergency braking condition,of electric wheel slip rate and the tire side slip angle control.The seven degrees of freedom vehicle model and ABS combined simulation model is established to solve the operation stability of electric vehicle braking,design of ABS control method using logic threshold control strategy,but in this paper,the logic threshold control is different from the traditional logic threshold control,the traditional control strategy to reduce the original pressure to the angular velocity-a stop to stop the +a,the simulation data show that the wheel has better handling stability when steering brake,tire slip rate is always maintained at the best slip rate,no lock wheel,tire side slip angle of good performance.