The invention discloses an electric vehicle electronic differential control method based on Ackerman steering correction. The electric vehicle electronic differential control method comprises the following steps: correcting the Ackerman steering principle; establishing an electronic differential steering model; designing a wheel speed controller; and designing a tire slip rate controller. According to the invention, the traditional Ackerman steering principle is corrected to obtain the corrected Ackerman steering principle under the lateral deviation of a tire and corrected steering angles ofan inner side wheel and an outer side wheel of the front axle of a vehicle, so that the steering control accuracy of the vehicle is improved. The expected four-wheel rotating speed under the conditionof correcting the steering angles of the inner side wheel and the outer side wheel of the front axle of the vehicle is obtained under the condition of correcting the Ackerman steering principle, andthe rotating speed control accuracy and effectiveness of a hub motor are improved. According to the invention, under the consideration of the influence of the tire slip rate, the accuracy of electronic differential control under the influence of the slip rate is improved through conversion control of the wheel speed to the wheel rotating speed. According to the invention, the PID control has self-adaptability, and the robustness and stability of the electronic differential system are improved.

    本发明公开了一种基于阿克曼转向修正的电动汽车电子差速控制方法,包括以下步骤:修正阿克曼转向原理;建立电子差速转向模型;设计车轮轮速控制器;设计轮胎滑移率控制器。本发明通过对传统阿克曼转向原理进行修正,得到轮胎侧偏下的修正阿克曼转向原理以及修正后的车辆前轴内、外侧车轮转向角,提高了车辆转向控制精确度。本发明在修正阿克曼转向原理下,得到修正车辆前轴内、外侧车轮转向角下的期望四轮转速,提高了轮毂电机转速控制的精确度和实效性。本发明在考虑轮胎滑移率的影响下,通过车轮轮速对车轮转速的转化控制,提高了滑移率影响下电子差速控制的精确度。本发明使PID控制具有自适应性,提高了电子差速系统的鲁棒性和稳定性。


    Access

    Download


    Export, share and cite



    Title :

    Electric vehicle electronic differential control method based on Ackerman steering correction


    Additional title:

    一种基于阿克曼转向修正的电动汽车电子差速控制方法


    Contributors:
    GUO LIE (author) / CHEN JUNJIE (author) / ZHAO YIBING (author) / YUE MING (author) / FENG JINDUN (author)

    Publication date :

    2020-05-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Study of Steering System for an Electric Trike-Ackerman Steering

    Patel, Sachin / Rawat, Ritwick / Shantanu et al. | Springer Verlag | 2021


    Automobile positioning method based on Ackerman steering model

    LEI XING / YE XIONGFEI | European Patent Office | 2020

    Free access

    Ackerman steering mechanism with precise steering function

    LI ZHONGLI / HAN CHONG / SUN JINGGE et al. | European Patent Office | 2022

    Free access

    Ackerman steering independent suspension steering system, vehicle and power assembly system

    CHEN XIAOKAI / LI CHAO | European Patent Office | 2021

    Free access

    Steering wheel angle estimation method and system based on Ackerman steering theorem

    HE DEGUAN / CHEN LI / FAN RENHAO | European Patent Office | 2020

    Free access