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电动轮车是一种新型的采用电动轮驱动的电动汽车,电子差速控制是其关键技术之一。针对4轮独立驱动的低速电动轮车,在利用Ackerman转向模型对其转向时的4轮差速关系进行理论分析的基础上,通过推行转向试验确定了不同方向盘转角时的4轮差速关系,据此采用四路并行的轮边电机转速PID闭环控制实现了4轮的电子差速。实际道路工况的实车试验验证了所提出的基于推行转向试验确定4轮差速关系的电动轮车电子差速控制方法的有效性。
Electric wheel is a new electric wheel driven by electric vehicles, electronic differential control is one of the key technologies. Based on the theoretical analysis of the four-wheel differential relationship of the four-wheel independent-drive low-speed electric wheel vehicle steering with Ackerman steering model, the four-wheel differential relation at different steering wheel angles is determined through the implementation of the steering test. Based on this, four rounds of parallel wheel motor speed PID closed-loop control to achieve a four-wheel electronic differential. The actual vehicle test of actual road conditions validates the validity of the proposed electronic differential control method for electric wheeled electric vehicles based on the implementation of the steering test to determine the 4-wheel differential relationship.