Research On Differential Steering Control Strategy Of Distributed Electric Drive Vehicle

Abstract

Aiming at the multi-axis distributed electric drive vehicles, this paper firstly established the vehicle dynamics model, and proposed a double-layer control strategy of rear axle differential steering based on centromass lateral deflection. The upper control took centromass lateral deflection and front wheel Angle as input, and adopted fuzzy control to obtain the rear axle differential steering reference Angle. The lower layer controls and tracks the reference Angle to obtain the differential torque of the rear axle hub motor. Finally, the simulation results show that compared with the ideal ackerman steering strategy, this strategy can effectively reduce the deviation Angle of the center of mass and improve the performance of the medium-high speed steering.