Affiliation:
1. School of Automotive and Traffic Engineering, Jiangsu University, China
2. Automotive Engineering Research Institute, Jiangsu University, China
Abstract
In this paper, we present a coordinated control system of differential and assisted steering for in-wheel motor driven (IMD) electric vehicles (EVs) with two independent front-wheel drives. An electric differential (ED) control strategy is proposed to track the expected yaw rate based on sliding mode control (SMC). Meanwhile, to realize differential drive assisted steering (DDAS), a variable speed integral PID controller is used to follow the ideal steering wheel torque. The impacts of the coupling with the ED and DDAS systems on EVs are analyzed, and a coordinated control system with adaptive weighting dependent on vehicle speed is designed. Results of the simulation on the CarSim-Simulink joint platform for IMD EVs model show that the proposed coordinated control approach can effectively reduce the torque of a steering wheel while ensuring the vehicle’s stability. Finally, road testing results of IMD EVs are demonstrated to be comparable with joint simulations, indicating the correctness of this solution.
Funder
Natural Science Foundation of Jiangsu Province
Subject
Mechanical Engineering,Aerospace Engineering
Cited by
30 articles.
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