现代制造工程Issue(7)：72-79,71,9.DOI:10.16731/j.cnki.1671-3133.2025.07.009
分布式驱动电动汽车差速转向控制策略研究
Research on differential steering control strategy of distributed drive electric vehicle
摘要
Abstract
In order to improve the driving stability of distributed drive electric vehicles under various steering conditions and coor-dinate the rotational speed difference control between wheels,a differential steering control strategy integrating both a composite rotational speed control method and a slip rate control method is proposed.Firstly,the relationship between the optimal slip rate and the road adhesion coefficient is investigated,and their correlation is fitted to ensure the system operates near the optimal slip rate.Then,a fuzzy controller is employed to process the inputs-including the deviation between the actual yaw rate and the de-sired yaw rate,the deviation between the actual side slip angle and the desired side slip angle,and the vehicle speed,and output a coordination coefficient for the two control methods.Under stable conditions,the rotational speed control method is utilized to a-chieve desired wheel speed tracking via sliding mode variable structure control.Under unstable conditions,the slip rate control method calculates the additional yaw moment by sliding mode variable structure control,while a single/dual-wheel switching con-troller allocates the torque.Finally,simulation results shown that,under high-speed and low-adhesion conditions,the proposed control strategy reduces the maximum yaw rate and side slip angle by 37.96％and 52.82％respectively,compared to a single control method,significantly improving vehicle handling stability.关键词
电动汽车/稳定性/差速转向控制/协调系数Key words
electric vehicle/stability/differential steering control/coordination coefficient分类
交通工程引用本文复制引用
张昊,屈小贞,李刚..分布式驱动电动汽车差速转向控制策略研究[J].现代制造工程,2025,(7):72-79,71,9.基金项目
2024年辽宁省教育厅高等学校基本科研项目(LJ212410154036) （LJ212410154036）
辽宁省教育厅重点攻关项目(JYTZD2023081) （JYTZD2023081）
