Dual-steering Control Of In-Wheel Motors Drive Vehicle Starting On A ?-split Road

The driving wheels on both sides of the in-wheel motor vehicle can be controlled separately.In order to guarantee the starting climbing ability on the ?-split road,the differential torque generated by the torque of the driving wheels on both sides will make additional turning angles of the steering wheel.The movements will superimpose over steering system,resulting in a dual-steering.In order to improve the passing ability and stability of the ?-split road based on the dual-steering function,this article will carry out the following research:1.In order to improve the starting ability of the in-wheel motor vehicle driving on the and provide good lateral adhesion conditions for the dual-steering control,study the antiskid control strategy of the skidding wheel on the low adhesion side of the road to avoid the wheel slip and maximize the lateral coefficient.2.In order to modify the deviation when starting on ?-split road by steering,the active steering control strategy based on model predictive control is studied.The reverse steering angle generated by the front wheels is superimposed to produce the steering torque that is opposite to the driving direction,so that the vehicle can resume straight driving and the vehicle stability can be improved.3.Simulate and analyze the effects of the dual-steering control generated by differential drive and active steering,and further evaluate the effect of applying the anti-skid control to the dual-steering control,which lay the theoretical foundation to the realization of the cooperative control function between the in-wheel motor and the steering system.4.Verifying the effect of dual-steering control with driving anti-skid by real vehicles,and compared with the differential drive in the free state,the differential drive under the anti-skid,and the deal-steering control respectively,verifying the control effect to improve vehicle stability and passing ability.