For an electric vehicle driven by four in-wheel motors, the torque of each wheel can be controlled precisely and independently. A closed-loop control method of differential drive assisted steering (DDAS) has been proposed to improve vehicle steering properties based on those advantages. With consideration of acceleration requirement, a three dimensional characteristic curve that indicates the relation between torque and angle of the steering wheel at different vehicle speeds was designed as a basis of the control system. In order to deal with the saturation of motor's output torque under certain conditions, an anti-windup PI control algorithm was designed. Simulations and vehicle tests, including pivot steering test, lemniscate test and central steering test were carried out to verify the performance of the DDAS in steering portability and road feeling. Results showed that with the proposed DDAS, the reference steering wheel torque can be tracked satisfactorily, drivers' handling burdens were reduced efficiently and the vehicle steering performance was improved.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Differential Drive Assisted Steering Control for an In-wheel Motor Electric Vehicle


    Additional title:

    Sae International Journal of Passenger Cars- Electronic and Electrical Systems
    Sae Int. J. Passeng. Cars – Electron. Electr. Syst


    Contributors:
    Leng, Bo (author) / Jin, Chi (author) / Liu, Jun (author) / Xiong, Lu (author) / Yu, Zhuoping (author)

    Conference:

    SAE 2015 World Congress & Exhibition ; 2015



    Publication date :

    2015-04-14


    Size :

    9 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Differential Drive Assisted Steering Control for an In-wheel Motor Electric Vehicle

    Leng, Bo / Xiong, Lu / Jin, Chi et al. | British Library Conference Proceedings | 2015


    Torque Steering Control of 4-Wheel Drive Electric Vehicle

    Chong, U. / Namgoong, E. / Sul, S. K. et al. | British Library Conference Proceedings | 1996


    Robust Differential Steering Control System for an Independent Four Wheel Drive Electric Vehicle

    Khan, Muhammad Arshad / Aftab, Muhammad Faisal / Ahmed, Ejaz et al. | Online Contents | 2019


    Robust Differential Steering Control System for an Independent Four Wheel Drive Electric Vehicle

    Khan, Muhammad Arshad / Aftab, Muhammad Faisal / Ahmed, Ejaz et al. | Springer Verlag | 2019


    All-wheel drive type electric motor coach steering drive axle

    SUN SHULEI / HE DONG / PENG YIQIANG et al. | European Patent Office | 2020

    Free access