采用主动导向控制可有效提高独立车轮的导向能力。从永磁同步电机转矩波动的角度出发，分析永磁同步电机转矩波动的来源，计算轮毂电机的转矩波动误差。建立基于左、右轮转速差反馈的轮毂电机独立车轮主动导向控制的仿真模型，研究轮毂电机的转矩波动对轮毂电机独立车轮主动导向控制的影响。通过理论推导和模型仿真计算，当独立轮对转向架在直线上以恒速运行时，轮毂电机系统的控制精度和轮对最大横移量之间存在函数关系，轮毂电机的控制精度越大，轮对的横向位移波动量越大，且车轮踏面的等效斜度和车轮的名义滚动圆半径是二者之间关系的重要影响因素。基于轮毂电机独立车轮主动导向控制精度与轮轨型面之间的关系，提出通过优化踏面来提高独立车轮主动导向效果的方法。
The active steering control can effectively improve the steering ability of independent wheels. Based on the research of torque ripple of the permanent magnet synchronous motor(PMSM), the source of torque ripple of PMSM is analyzed, and the torque ripple error of hub motor is calculated. The simulation model for active steering control of independently rotating wheel in in-wheel motor is established. The effect of torque ripple on active steering control of independently rotating wheel in in-wheel motor is investigated. Through theoretical derivation and model simulation, when the vehicle runs at a constant speed in a straight line, there is a functional relationship between the control accuracy of the hub motor system and the maximum lateral displacement of the wheelset. When the control accuracy of the hub motor becomes worse, the fluctuation amount of the lateral displacement of the wheel pair also becomes larger. Among them, the equivalent conicity of the wheel tread and the wheel's nominal rolling radius are important influencing factors. The relations between the accuracy of active steering control of independently rotating wheel in in-wheel motor and wheel/rail profile are derived. The method which used to improve the active steering control of independently rotating wheel by optimizing the tread is proposed.
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