Study On Four Wheel Independent Steering/Electric Drive Vehicle For Four Wheel Steering Control Strategy And Road Feel

The four wheel angle and torque can be controlled independently of the four wheel independent steering / electric vehicle,and it is easy to implement the four wheel steering control.Because of the vehicle steering by wire technology,it is necessary to provide the road feeling control on the steering wheel.Based on the National Science Foundation youth fund project "intelligent four wheel independent drive electric vehicle steering wheel motor adaptive research(51305190)" and "considering the driver characteristics of four wheel drive and steering control of electric vehicle dynamics(51675257)," enterprise technology development project "four wheel independent drive electric vehicle model",focusing on the four wheel independent steering / electric drive control strategy and road simulation algorithm of four wheel steering vehicle.This paper mainly studies the following aspects:(1)The establishment of the simulation model of the four wheel independent steering /electric vehicle.Based on the software of CarSim and Matlab/Simulink,the four wheel independent steering / electric vehicle simulation model is built,and the simulation condition is set up for simulation analysis.(2)Research on the control strategy of four wheel steering.This paper studies the four wheel steering control strategy of the four wheel independent steering electric vehicle,which makes the low speed steering of the four wheel steering vehicle have the flexibility of maneuver,and has good handling stability when the steering is high speed.(3)Research on road feel of four wheel steering vehicle.The four wheel independent steering vehicle with steering by wire technology,the abolition of the traditional automobile mechanical connection,driver cannot obtain the steering road feeling,so it is necessary to design the road-feel simulation.Four wheel steering vehicle road feeling is different from the two wheeled vehicle steering,researching for four wheel steering vehicle road simulation algorithm to provide a good road feel to the driver and to meet the requirements of high speed and low speed steering steering stability.(4)Experimental verification.The four wheel steering control strategy and the road simulation algorithm are tested on the hardware platform of the vehicle driving simulator.The results show that: the four wheel steering control strategy of the electric vehicle has good handling and stability,the development of road simulation algorithm so that the steering wheel has good road sense characteristics,the driver can get a good sense of the way.