Coordinated control of electronic differential and differential assist steering is proposed to improve vehicle handing stability and steering portability when electric vehicle driven by in-wheel motors steering. Coordinated optimal control of the vehicle stability and assist steering of steering wheel is realized by re-distributing torques of left and right in-wheel motors. Two kinds of control methods are analyzed to conclude consistency of control trend and state respond, which can validate the feasibility of coordinated control. Meanwhile, the coordinated control strategy is designed by setting a weight function. The effect of speed and steering wheel angle on vehicle yaw rate and steering wheel torque is analyzed, and the weight function according to the vehicle speed would be designed. Matlab co-simulation with CarSim and road testing have carried out and demonstrated that the coordinated control strategy can give consideration to the vehicle stability of differential steering and assist steering for drivers. Reducing steering torque based on differential steering control in low speed and improving the stability on electronic differential in high speed is realized comprehensively.
LU Shanfeng
,
XU Xing
,
CHEN Long
,
WANG Feng
,
WANG Wujie
. Coordinated Control of Electronic Differential and Differential Assist Steering for Electric Vehicle Driven by In-wheel Motors[J]. Journal of Mechanical Engineering, 2017
, 53(16)
: 79
-85
.
DOI: 10.3901/JME.2017.16.078
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