Hybrid Control Method of Electronic Differential Speed for Hub Electric Vehicle
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.
Electronic DifferentialFuzzy PIDFuzzy ApproximationOptimal Control of Slip Ratio
万方数据
维普
