In order to realize the stable steering of the wheel hub electric vehicle in the curve and solve the limitation of the tradition-al control method on the vehicle speed,a high-low speed compound electronic differential control method is proposed.When the ve-hicle is in the low-speed driving state,according to Ackermannsteering model to obtain the expected speed of the driving wheel,a fuzzy PIDcontrol method is proposed to realize the stable tracking of the wheel speed;When the vehicle is in the high-speed driving state,the relative slip ratio of the driving wheel is taken as the feedback control quantity,and a slip ratio optimization control meth-od based on fuzzy approximation is proposed,which does not need to establish an accurate system state space model and LQRtheo-ry ensure the minimum relative slip ratio of driving wheel.The joint simulation of MATLAB/CarSim shows that the proposed high-speed and low-speed compound control method can make the vehicle achieve stable steering at different speeds.
关键词
电子差速/模糊PID/模糊逼近/滑移率优化控制
Key words
Electronic Differential/Fuzzy PID/Fuzzy Approximation/Optimal Control of Slip Ratio
维普
万方数据