Electronic differential speed steering control for four in-wheel motors independent drive vehicle

Study all-wheel steering control strategy of electronic differential speed for four in-wheel motors independent drive vehicle. According to kinematics of steering, a dynamics model of three degrees-of-freedom steering is established, and a control system of electronic differential speed for four in-...

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Bibliographic Details
Main Authors: Li Zhai, Shouquan Dong
Format: Conference Proceeding
Language:English
Subjects:
All wheel steering
Artificial neural networks
Brushless motors
Electronic differential
In-wheel motor
Independent drive
Torque
Vehicle dynamics
Vehicles
Velocity control
Wheels
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Summary:Study all-wheel steering control strategy of electronic differential speed for four in-wheel motors independent drive vehicle. According to kinematics of steering, a dynamics model of three degrees-of-freedom steering is established, and a control system of electronic differential speed for four in-wheel motors independent drive is proposed. A comprehensive control strategy of speed and torque based on Neural Networks PID electronic differential is proposed to calculate object speed of four wheels. Four PID controllers are used to achieve torque distribution on four in-wheel motors, to realize electronic differential speed steering. The simulation results with different reference steering angle and velocity indicate that the strategy can improve the steering maneuvering and stability of vehicle in a low speed.
DOI:10.1109/WCICA.2011.5970621