Design of an Anti-Windup PID Algorithm for Differential Torque Steering Systems

Abstract

The EV (electric vehicle) with a wheel hub motor has the advantage of independent driving torque distribution for each wheel, which allows the vehicle performance to be improved. Therefore, a lot of work has been done to investigate the torque allocation algorithm for the mechanical and differential torque integration steering system. To investigate the differential steering process, the 2 DOF (degree of freedom) dual-track reference models with linear and nonlinear tire models are established, and based on the steering process analysis and yaw rate gain calculation, a BP-NN (backpropagation neural network) model is initiated to maintain the accuracy of the calculated yaw rate gain. The limitation of DTSS (differential torque steering system) and the difference of reference models with linear and nonlinear tires are drawn. In addition, an anti-windup variable PID (proportion integration differentiation) controller is designed for the torque distribution. Based on the built 8 DOF model, the vehicle performance indicators are calculated and compared, the gap between the models with linear and nonlinear tires is non-negligible, and a reference model with a nonlinear tire model is recommended for the relevant research. The anti-windup variable PID controller has a better performance than the normal PID controller except for the stability phase plane indicator.