Research on Steering Control of Four-wheel Independent Drive Electric Vehicle

Abstract

To improve the four-wheel independent drive electric vehicle handling and stability in the steering traveling, designed under different speed steering control strategies. When the vehicle is turning at low speed, the differential control based on the Ackerman steering model is adopted; when the vehicle is turning at high speed, the yaw moment control based on the two-degree-of-freedom model is adopted. In order to avoid excessive rigidity in strategy switching caused by vehicle speed changes, when the vehicle speed is driving at a medium speed, the PID controller is selected to track the ideal vehicle speed when turning. On the CarSim and MATLAB/Simulink joint simulation platform, the whole vehicle model is built, and the double-shifting working condition and the snake-like working condition are selected for simulation verification. The results show that the control strategies at different vehicle speeds can ensure the stability of the vehicle when turning, and can better track the expected vehicle speed when the vehicle is turning, and improve the maneuverability of the four-wheel drive electric vehicle.