| 基于阿克曼算法的轮毂电动汽车控制方法研究 |
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| 引用本文： | 李卫硕,徐颖,郭超,李亚超,严亚亚,黄伟兵.基于阿克曼算法的轮毂电动汽车控制方法研究[J].测控技术,2017,36(3):59-62. |
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| 作者姓名： | 李卫硕 徐颖 郭超 李亚超 严亚亚 黄伟兵 |
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| 作者单位： | 深圳大学机电与控制工程学院,广东深圳,518060 |
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| 基金项目： | 国家自然基金青年科学基金项目（61403259）；深圳科技计划基础研究项目(JCYJ20140418182819128） |
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| 摘 要： | 轮毂电动汽车以其独特的线控转向、线控驱动及线控制动设计,实现了整车的机电一体化控制.以前置前驱、前轮转向的轮毂电动汽车为研究对象,依据阿克曼转向模型原理,实现轮毂电动汽车前轮独立转向及差速系统的控制;同时,根据ABS控制理论,实现对轮毂电动汽车有效制动的控制.以上控制方法经实验验证切实可行.
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| 关 键 词： | 线控转向 线控制动 线控驱动 阿克曼模型 电磁制动器 |
Study on Control Method of Motor-in-Wheel Electric Vehicles Based on Ackermann Algorithm |
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| LI Wei-shuo,XU Ying,GUO Chao,LI Ya-chao,YAN Ya-ya,HANG Wei-bing.Study on Control Method of Motor-in-Wheel Electric Vehicles Based on Ackermann Algorithm[J].Measurement & Control Technology,2017,36(3):59-62. |
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| Authors: | LI Wei-shuo XU Ying GUO Chao LI Ya-chao YAN Ya-ya HANG Wei-bing |
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| Abstract: | Integration of mechanism and electronics of motor-in-wheel electric vehicles is realized with its unique design of steering-by-wire,braking-by-wire and driving-by-wire.The motor-in-wheel electric vehicle with precursor and front wheel-steering is taken as the research object,the front wheel steering independently and differential speed system control are realized based on Ackermann algorithm.Meanwhile,based on ABS control theory,the effective brake control is achieved for motor-in-wheel electric vehicles.These above methods are verified by experiments. |
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| Keywords: | steering-by-wire braking-by-wire driving-by-wire Ackermann model electromagnetic brake |
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