A method for electronic differential control of electric vehicles based on Ackerman steering correction

Abstract

The invention discloses an electric vehicle electronic differential control method based on Ackerman steering correction, comprising the following steps: correcting the Ackerman steering principle; establishing an electronic differential steering model; designing a wheel speed controller; and designing tire slip rate controller. The invention corrects the traditional Ackermann steering principle to obtain the revised Ackerman steering principle under tire side slip and the corrected vehicle front axle inner and outer wheel steering angles, thereby improving the steering control accuracy of the vehicle. The invention obtains the expected four-wheel rotation speed under the modification of the steering angle of the inner and outer wheels of the front axle of the vehicle under the modified Ackerman steering principle, and improves the accuracy and effectiveness of the rotation speed control of the hub motor. The invention improves the accuracy of the electronic differential speed control under the influence of the slip rate through the conversion control of the wheel speed to the wheel speed under the consideration of the influence of the slip rate of the tire. The invention makes the PID control adaptive, and improves the robustness and stability of the electronic differential system.

Description

technical field [0001] The invention relates to the field of automatic driving differential control, in particular to an electric vehicle electronic differential control method based on Ackermann steering correction. Background technique [0002] In view of the current problems of road congestion and frequent traffic accidents, the research on intelligent driving control provides a possible solution. At the same time, as a new energy vehicle, distributed drive electric vehicles can effectively reduce energy crisis and environmental pollution, and its unique structural advantages provide broad prospects for improving vehicle power, stability and safety. Among them, the application of electronic differential technology provides a solution to reduce the weight of the vehicle, improve the energy recovery rate, increase the cruising range of the vehicle, and improve the stability of the vehicle under the extreme conditions of high speed and large turning. [0003] Ackerman steer...

AI Technical Summary

Problems solved by technology

However, the Ackerman steering of traditional vehicles is based on the assumption of tire rigidity, ignoring the influence of tire elastic side deflection on vehicle steering, which will lead to a large steering error of the vehicle, which will lead to the electronic differential system based on the traditional Ackerman steering model. The corresponding large wheel speed error, and the existence of the slip rate will also cause a large error in the wheel speed (translational velocity of the wheel center), which will cause the electronic differential system of the distributed drive electric vehicle to fail, resulting in the vehicle in the Unsteady when turning

Images