Abstract
Current adaptive torque balancing control of electric wheel-driven vehicle has shortcomings in electronic differential control of drive motor by using rotation speed mode. In order to solve this problem, an adaptive electronic differential control method of electric wheel-driven vehicle is proposed in this paper by torque balance. Firstly, by starting from the kinematics and dynamics of vehicle steering, the speed and force of each drived wheel in the steering are analyzed to explain the auxiliary role of electronic differential control to adaptive torque balancing, as well as influence of steering radius in vehicle. Then, electronic differential distribution by torque of wheel is used to control the abnormal jump interference and calculate the optimal combination of parameters in electronic differential control system. Finally, based on the optimal combination of these parameters, an adaptive electronic differential control of electric wheel-driven vehicle by torque balance is realized with fuzzy control in active and the reactive power. Experimental results show that the proposed method suppresses the abnormal jump interference factors of electronic differential control, as well as realizes the differential functions in control system. It has far-reaching significance by provideing a basic guarantee to realize adaptive electronic differential control system in electronic wheel-driven vehicle.
Highlights
With the development of computer intelligent control technology, electric wheel-driven vehicle usually uses distributed two-wheels or four-wheels driven motor
Research directions are mainly divided into (a) electronic differential technology based on rotation speed control and (b) electronic differential technology based on torque control [3, 4]
Because of the dynamic and timevarying characteristics of the electric vehicle in the turning process, it is difficult to ensure the accuracy of the mathematical model and it makes the control complexity [7, 8]. (2) The electronic differential technology based on torque control includes direct yaw moment control and slip rate control
Summary
With the development of computer intelligent control technology, electric wheel-driven vehicle usually uses distributed two-wheels or four-wheels driven motor. Researchers are interested in the technical problems of the power, stability and reliability of electric wheel vehicle today [1] The main technologies such as hub motor and its control, electronic. Combined with the steering wheel rotation angle and the speed relation of each driving wheel, the control instruction is sent to the driving motor through comprehensive analysis and calculation by the differential control of two-side driven wheels [6]. This method is mostly based on the Ackerman steering model, which ignores the characteristics of nonlinear system, which causes errors between the model and the actual vehicle.
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