新型电动车电子差速控制策略研究

为了提高驱动轮独立控制的轮式电动车(EV)的转向控制性能，提出了新颖的电子差速控制策略.该控制策略参考路面状况和轮胎偏转率，采用比例控制估算每个驱动轮在转向时的目标滑移率，基于每个驱动轮的滑移率分配转矩，指出轮式驱动不宜采用车轮速度作为控制量，进而采用鲁棒性好的开关控制实施转矩控制.并构建了用于样车的基于DSP2407的电子差速控制系统.仿真和实验研究表明，相比于传统的机械差速器，采用新的控制策略后，提高了控制系统的鲁棒性和稳定性，车辆具有更佳的转弯性能和控制响应.

Novel electric differential control scheme for electric vehicles

In order to enhance the steering control performance of the in-wheel motor driven electric vehicle(EV),a novel electric differential control strategy was proposed.According to the road type and the tyre deflection ratio,the object slip ratio of each driven wheel in turn was determined by using the proportional control.Based on object slip ratio of each driven wheel,the torque was distributed on two driven wheels,and was controlled by good robustness switch control.The strategy that the wheels speed was not used as control variables was put forward,and the DSP2407 based electric differential control system for a prototype vehicle was also developed.Experimental results show that compared with the traditional mechanical differential device,the proposed strategy improves the robustness and stability of the control system,and makes the vehicle has better turning performance and the control response.