Research On Steering Differential Controller Of Two-wheel Drive Electric Tricycle

The contradiction between economic development and environmental pollution is becoming increasingly prominent.The research and development of electric vehicles is imperative.China is constantly increasing the research of electric vehicles driven by motors.Electronic differential control is also a key link in the electronic control technology of electric vehicles.In the current three-wheel electric vehicles on the market,even the middle and high-end products still use the mechanical transmission system with low efficiency,resulting in large energy loss.The application of electronic differential control can solve this problem,which can upgrade the existing three-wheel electric vehicle products,and also provide guidance for electric cars,electric trucks and other vehicles Technology accumulation.The purpose of this paper is to study the electronic differential control strategy and its simulation and application.In this paper,the development status and existing problems of three-wheel electric vehicles and electric vehicles at home and abroad are analyzed,and a large number of documents about electronic differential control function are investigated.Several common differential systems including electronic differential are introduced in detail.Combined with the actual test vehicle of three-wheel electric vehicles,a new and applicable electronic differential design scheme is proposed.The main contents of this paper include the electronic differential strategy,theoretical analysis of the differential model,the establishment and verification of the simulation model,the construction of the physical test platform and the result analysis.Firstly,the classical steering model of Ackermann jeantand vehicle is studied,but the centrifugal force and axle load transfer are not considered in this model.Based on the analysis of the linear driving,steering driving,hub motor model and front wheel side force of the three-wheel electric vehicle,the driving force coefficient of the two driving wheels is taken as the reference value,and the driving force coefficient and the speed are respectively controlled by PID inner and outer ring,so as to form the differential control scheme of the three-wheel electric vehicle.Aiming at the above problems,this paper analyzes the establishment of electronic differential system and vehicle mathematical model,modeling and Simulation in Matlab /Simulink,and then carries out the real vehicle test.In the simulation,it includes the operation and analysis of the serpentine test condition and the double moving line test condition.It can be concluded that the electronic differential control scheme can effectively implement the differential control on the vehicle under various working conditions,make the values of the two-driving wheel drive power coefficients close to each other,and improve the maneuverability of the vehicle.At the same time,in order to verify the practical application effect of the electronic differential strategy,a physical test platform was built.The electronic differential controller selected IAP15W4K58S4 chip produced by Hongjing company as the control core,supplemented by display screen,Hall sensor and other peripheral devices,and was refitted on the basis of the original vehicle.Based on the analysis of the turning radius data of the actual road driving,under the same test conditions,compared with the non application of the electronic differential control scheme,the turning radius can be reduced by 5% at most,the improvement degree of insufficient turning is between 45% and 100% in most cases,and the maximum amount of excessive correction is 67% in some cases,and the maximum amount of excessive correction is 67% in some cases;and the number of serpentine pile winding tests is more The results of the analysis and comparison showed that the time needed to reduce by 11.57% and the trafficability also improved.On the whole,it can be concluded that the designed electronic differential controller has certain practical value and can improve the handling stability of three-wheel electric vehicle.