Electronic Differential Control for Distributed Electric Vehicles Based on Optimum Ackermann Steering Model

Abstract

The electronic differential control strategy for distributed electric vehicle (DEV) was proposed based on the optimum Ackermann steering model. To improve the stability and tracking accuracy of DEV when steering, as well as its adaptability to different working conditions, the ideal Ackermann steering model was optimized by introducing the tire slip angle correction coefficient. Electronic differential steering model was designed based on the optimum Ackerman steering. Speed controller based on PID was optimized by particle swarm optimization of BP network. The controller can achieve vehicle differential steering accurately and adaptive adjustment of PID control parameters online. Simulation results indicate that the proposed control strategy can achieve the stable differential steering under the condition of high speed and low adhesion conditions. The vehicle tracking accuracy can be improved and the influence of tire side angle on vehicle steering can be reduced under medium speed steering and high speed steering conditions.